中文说明：快速扩展随机生成树算法，该函数用来计算任意函数的一阶偏导数(数值方法),是路径规划的实用方法，计算互信息非常有用的一组程序,对信号进行频谱分析及滤波，插值与拟合，解方程，数据分析。
English Description：
Rapidly-exploring random tree algorithm, the first-order partial derivatives of a function used to calculate any function (method) is a practical method of path planning, a set of procedures for calculating mutual information is useful, the signal spectrum analysis and filtering, interpolation and fitting, solving equations, data analysis.