Added optimal speed approximation to UAV movement models

src/de/tud/kom/p2psim/api/topology/component/ControllableLocationActuator.java

@@ -90,4 +90,6 @@ public interface ControllableLocationActuator extends Actuator {
 	public double estimatePowerConsumptionWatt(double velocity);
 	
 	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold);
+	
+	public double estimateOptimalSpeed();
 }

src/de/tud/kom/p2psim/api/topology/movement/UAVMovementModel.java

@@ -57,6 +57,7 @@ public interface UAVMovementModel {
 	 * @return The power consumption in W for the given velocity.
 	 */
 	public double estimatePowerConsumptionWatt(double velocity);
+	public double estimateOptimalSpeed();
 	
 	public void move(long timeBetweenMovementOperations);
 	

src/de/tud/kom/p2psim/impl/topology/component/UAVTopologyComponent.java

@@ -106,7 +106,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		}
 		
 		// retrieve base location
-		baseLocation = UAVBasePlacement.base.position.clone();		
+		baseLocation = UAVBasePlacement.base.position.clone();				
 	}
 	
 	public void setState(UAVstate newState) {
@@ -365,6 +365,10 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return distance;
 	}
 	
+	public double estimateOptimalSpeed() {
+		return movement.estimateOptimalSpeed();
+	}
+	
 	@Override
 	public PositionVector getBaseLocation() {
 		return baseLocation.clone();

src/de/tud/kom/p2psim/impl/topology/movement/aerial/MulticopterMovement.java

@@ -70,6 +70,8 @@ public class MulticopterMovement implements UAVMovementModel  {
 	private double maximumPitchAngleAllowed; // ° max angle
 	private double maximumDecentVelocityAllowed; // m/s
 	
+	private double optimalVelocity = -1;
+	
 	// TODO currently not used
 	private double maximumTurnAngle; // 90° per second turn angle
 	
@@ -573,4 +575,33 @@ public class MulticopterMovement implements UAVMovementModel  {
 
 	}
 
+	@Override
+	public double estimateOptimalSpeed() {
+		
+		if(optimalVelocity == -1) {
+			double MIN = Double.MAX_VALUE;		
+			double opt = -1;
+			
+			double min = getHorizontalMinVelocity();
+			double max = getHorizontalMaxVelocity();
+			
+			int steps = 50;			
+			double stepsize = ( max-min) / steps;
+			
+			for (int i = 0; i < steps; i++) {
+				double speed =  min + i * stepsize;
+				double energyPerMeter = estimatePowerConsumptionWatt(speed) / speed ;
+				
+				if(energyPerMeter < MIN) {
+					MIN = energyPerMeter;
+					opt = speed;
+				}
+			}
+					
+			optimalVelocity = opt;
+		}
+		
+		return optimalVelocity;		
+	}
+
 }

src/de/tud/kom/p2psim/impl/topology/movement/aerial/SimpleMulticopterMovement.java

@@ -258,4 +258,9 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 					maximumVerticalVelocity, minimumHorizontalVelocity, minimumVerticalVelocity);
 		}			
 	}
+
+	@Override
+	public double estimateOptimalSpeed() {
+		return maximumHorizontalVelocity;
+	}
 }