用于六自由度机器人正逆运动学求解的算法程序，源码书写规范。对于逆运动学求解算法，采用了矩阵伪逆、最小二乘和lma三种方法实现。-Kinematics Algorithm for a six-axis robot written with C++. The algorithm is implemented with three methods: posedu inverse of matrix, least square and lma