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---++ 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.

[[PARS-MShu1Old][Shutest1 old mission file]]

[[PARS-MShu1New][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
Topic revision: r1 - 2015-01-16 - PengTang