Simple Movement now correctly takes the target speed as input

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

@@ -20,16 +20,11 @@
 
 package de.tud.kom.p2psim.impl.topology.movement.aerial;
 
-import java.util.HashMap;
+
 import java.util.LinkedHashMap;
 import java.util.LinkedList;
 import java.util.Map;
-
-import javax.persistence.criteria.CriteriaBuilder.In;
-
 import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
-import org.joda.time.tz.ZoneInfoProvider;
-
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
 import de.tud.kom.p2psim.impl.energy.components.StatelessMotorComponent;
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
@@ -51,7 +46,7 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	private double currentAngleOfAttack;
 	private double currentSpeed;
 	
-	private double targetedSpeed;	
+	private double targetSpeed;	
 	
 	private LinkedList<PositionVector> route = new LinkedList<>();
 	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  // TODO callback interface
@@ -146,9 +141,9 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 				else {
 					
 					// get to speed	
-					if(targetedSpeed > 0 && targetedSpeed < horizontalMaxVelocity()) {
-						motor.requestThrust(estimateRequiredThrust(targetedSpeed));
-						currentSpeed = targetedSpeed;
+					if(targetSpeed > 0 && targetSpeed < horizontalMaxVelocity()) {
+						motor.requestThrust(estimateRequiredThrust(targetSpeed));
+						currentSpeed = targetSpeed;
 					}
 					else {
 						motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
@@ -182,8 +177,15 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 			else {
 				double timefactor = timeBetweenMovementOperations / Time.SECOND;
 				
-				motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
-				currentSpeed = horizontalMaxVelocity();
+				// get to speed	
+				if(targetSpeed > 0 && targetSpeed < horizontalMaxVelocity()) {
+					motor.requestThrust(estimateRequiredThrust(targetSpeed));
+					currentSpeed = targetSpeed;
+				}
+				else {
+					motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
+					currentSpeed = horizontalMaxVelocity();
+				}				
 				
 				PositionVector directionToTarget = new PositionVector(target);
 				directionToTarget.subtract(position);
@@ -301,7 +303,7 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	
 	@Override
 	public void setPreferredSpeed(double v_pref) {
-		this.targetedSpeed = v_pref;		
+		this.targetSpeed = v_pref;		
 	}
 	
 	@Override