Yes, mininet is for SDN. However, I'm talking about mininet-wifi which is a little different from mininet in terms of supporting WiFi networks. It's a fork of mininet which allows the using of both WiFi stations and access points.
Take a look at this link: http://sdn-wise.dieei.unict.it/docs/guides/GetStartedONOS.html - It uses Cooja/Contiki simulator and ONOS controller for controlling a heterogeneous network.
I'm using Mininet-wifi at this time which is intended to emulate wireless OpenFlow/SDN scenarios and according to it's developer, it will be extended to IoT in a near future. however, it already supports 6lowpan.
So This is you who should decide which one to use based on the complexity of your work, the controller you want to use and ...
It is better to use opendaylight since it is more latest in 2013 and almost has all things positively and it also support IOT.sorry I want to say controller.
there is an ongoing fork of Mininet-WiFi for IoT (with or without SDN): https://github.com/ramonfontes/mininet-iot as well as simple examples to start learning how to emulate some IoT scenarios: https://github.com/intrig-unicamp/mininet-wifi/blob/master/examples/iot.py