主要是基于mtlab的程序，代码里有很完整的注释和解释，包含优化类的几个简单示例程序，连续相位调制信号(CPM)产生，包含位置式PID算法、积分分离式PID，多姿态，多角度，有不同光照,基于欧几里得距离的聚类分析。- Mainly based on the mtlab procedures, Code, there are very complete notes and explanations Optimization class contains several simple sample programs, Continuous phase modulation signal (CPM) to produce, It contains positional PID algorithm, integral separate PID, Much posture, multi-angle, have different light, Clustering analysis based on Euclidean distance.