Main difference between old and new CNL, mission files.

New CNL changed two main features compared to old CNL, namely, move_to and spin. The move_to function now contains a goal tolerance which in the old move_to we need to subtract the goal tolerance manually. As for the spin, It changes from inputting an absolute angle to a relative angle.

Two new functions are added to the CNL in order to apply the new spin function -- smaller(a, b) and rotation(rad, rad). The former serves the purpose of selecting the smaller variable in a and b, the latter rotate the robot with the input argument of radian(two input arguments have the same value).

One new process is added to the CNL-- spin_done, whose function is to check if the spin process if finished.

Number of input parameters changes, mostly cases it increases.

Description of Mission Shutest1

The mission Shutest1 is one robot goes a straight line with no obstacle.

Shutest1 old mission file

Shutest1 new mission file

Result Analysis

There is no any difference between old and new mission in terms of both time and spatial criterion.

-- (c) Fordham University Robotics and Computer Vision