clear;
clc;
t1=clock;



r=40;
xt=100;
yt=120;
zt=120;
cob=[50 60 60;100 90 50];
rob=10;

r=407.24;
xt=-5;
yt=0;
zt=120;
cob=[0 0 70];
rob=2;

NP=50;

w=0.6343;    
c1=1.7289;    
c2=1.8208;

% c2=c2/2;
% c3=c2;

wmax=0.9;
wmin=0.4;

flag=1;
while(flag)
    %[dist,length]=mgpos_parameter_effect_3(cob,xt,yt,zt,r,rob,w,c1,c2,c3);
%     [dist,length]=pos_parameter_effect(cob,xt,yt,zt,r,rob,NP,w,c1,c2);
    [dist,length,time,g]=pos_parameter_effect_itera(cob,xt,yt,zt,r,rob,NP,w,c1,c2);
    if(dist<0.001)
        flag=0;
    end
end
t2=clock;
[dist length etime(t2,t1)]
g