revert setting vehicle forces to 0 when vehicle is halted; measured speed...

revert setting vehicle forces to 0 when vehicle is halted; measured speed cycle:threshold for velocity == 0;

VectoCore/VectoCore/Models/SimulationComponent/Impl/Brakes.cs

@@ -57,14 +57,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				: NextComponent.Initialize(torque, angularVelocity);
 		}
 
-		public IResponse Request(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, bool dryRun = false)
+		public IResponse Request(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity,
+			bool dryRun = false)
 		{
 			var brakeTorque = 0.SI<NewtonMeter>();
 			var avgAngularSpeed = (PreviousState.OutAngularVelocity + outAngularVelocity) / 2.0;
 
 			if (!BrakePower.IsEqual(0)) {
 				if (avgAngularSpeed.IsEqual(0)) {
-					brakeTorque = outTorque;
+					brakeTorque = -outTorque;
 				} else {
 					brakeTorque = BrakePower / avgAngularSpeed;
 				}

VectoCore/VectoCore/Models/SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs

@@ -137,7 +137,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			}
 
 			// calc acceleration from speed diff vehicle to cycle
-			var deltaV = CycleIterator.RightSample.VehicleTargetSpeed - DataBus.VehicleSpeed;
+			var targetSpeed = CycleIterator.RightSample == null
+				? 0.KMPHtoMeterPerSecond()
+				: CycleIterator.RightSample.VehicleTargetSpeed;
+			if (targetSpeed.IsEqual(0.KMPHtoMeterPerSecond(), 0.5.KMPHtoMeterPerSecond())) {
+				targetSpeed = 0.KMPHtoMeterPerSecond();
+			}
+			var deltaV = targetSpeed - DataBus.VehicleSpeed;
 			var deltaT = CycleIterator.RightSample.Time - CycleIterator.LeftSample.Time;
 
 			if (DataBus.VehicleSpeed.IsSmaller(0)) {

VectoCore/VectoCore/Models/SimulationComponent/Impl/Vehicle.cs

@@ -102,22 +102,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			CurrentState.Distance = PreviousState.Distance + PreviousState.Velocity * dt + acceleration * dt * dt / 2;
 
 			CurrentState.DriverAcceleration = DriverAcceleration(acceleration);
-			CurrentState.RollingResistance = DataBus.DriverBehavior == DrivingBehavior.Halted
-				? 0.SI<Newton>()
-				: RollingResistance(gradient);
+			CurrentState.RollingResistance = RollingResistance(gradient);
 			try {
-				CurrentState.AirDragResistance = DataBus.DriverBehavior == DrivingBehavior.Halted
-					? 0.SI<Newton>()
-					: AirDragResistance(PreviousState.Velocity, CurrentState.Velocity);
+				CurrentState.AirDragResistance = AirDragResistance(PreviousState.Velocity, CurrentState.Velocity);
 			} catch (VectoException ex) {
 				Log.Warn("Exception during calculation of AirDragResistance: absTime: {0}, dist: {1}, v: {2}. {3}", absTime,
 					CurrentState.Distance, CurrentState.Velocity, ex);
 				CurrentState.AirDragResistance = AirDragResistance(VectoMath.Max(0, PreviousState.Velocity),
 					VectoMath.Max(0, CurrentState.Velocity));
 			}
-			CurrentState.SlopeResistance = DataBus.DriverBehavior == DrivingBehavior.Halted
-				? 0.SI<Newton>()
-				: SlopeResistance(gradient);
+			CurrentState.SlopeResistance = SlopeResistance(gradient);
 
 			// DriverAcceleration = vehicleTractionForce - RollingResistance - AirDragResistance - SlopeResistance
 			CurrentState.VehicleTractionForce = CurrentState.DriverAcceleration