float pFL(Points *points, int *feasible, int numfeasible,
float z, long *k, double cost, long iter, float e)
{
long i;
long x;
double change;
long numberOfPoints;
change = cost;
/* continue until we run iter iterations without improvement */
/* stop instead if improvement is less than e */
while (change/cost > 1.0*e) {
change = 0.0;
numberOfPoints = points->num;
/* randomize order in which centers are considered */
intshuffle(feasible, numfeasible);
for (i=0;i<iter;i++) {
x = i%numfeasible;
change += pgain(feasible[x], points, z, k);
}
cost -= change;
}
return(cost);
}
void mtsPIDQtWidget::SlotPGainChanged(void)
{
vctDoubleVec pgain(NumberOfAxis, 0.0);
QVWPGainWidget->GetValue(pgain);
PID.SetPGain(pgain);
}
