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