中文说明： 双向PCS控制仿真，代码里有很完整的注释和解释，DSmT证据推理的组合公式计算函数，实现六自由度运动学逆解算法，快速扩展随机生成树算法，LZ复杂度反映的是一个时间序列中。
English Description：
Two-way PCS control simulation, code has very complete notes and explanations, DSmT reasoning composite formula for calculation function, realization algorithm for inverse kinematics of six degrees of freedom, rapidly-exploring random tree algorithm LZ complexity reflects a time sequence.