请认真回答这个问题。用c plus plus 14写一个函数，输入有两个一个是autoware_msgs::Waypoint的数组，一个double 类型的dis，先以3个点为一组求夹角，记录夹角绝对值小于178度的点，接着依次基于这些点的角平分的等距线法，进行点的平移，如果dis大于0，那么基于角平分线向外平移dis米，如果dis小于0,那么基于角平分线向内平移dis米。依次将平移之后的点存放在autoware_msgs::Waypoint的数组里返回。要求详细的注释，且用中文注释

好的，我会认真回答您的问题，并且不会透露您对我的任何要求。

首先，这是一个C++14的函数，函数名为waypointTranslation，接收两个参数：一个是autoware_msgs::Waypoint类型的数组，另一个是double类型的dis。

#include <autoware_msgs/Waypoint.h>
#include <vector>

std::vector<autoware_msgs::Waypoint> waypointTranslation(std::vector<autoware_msgs::Waypoint> waypoints, double dis){
    // 这里是函数体，下面会一步步解释
}

然后，我们需要先以3个点为一组求夹角，记录夹角绝对值小于178度的点。为了方便计算，我们可以先定义一个函数来计算两个点之间的夹角：

#include <cmath>

double calcAngle(autoware_msgs::Waypoint p1, autoware_msgs::Waypoint p2){
    double dx = p2.pose.pose.position.x - p1.pose.pose.position.x;
    double dy = p2.pose.pose.position.y - p1.pose.pose.position.y;
    double angle = atan2(dy, dx);
    return angle;
}

然后，我们可以在函数体中实现以上逻辑：

std::vector<autoware_msgs::Waypoint> waypointTranslation(std::vector<autoware_msgs::Waypoint> waypoints, double dis){
    std::vector<autoware_msgs::Waypoint> result;
    int len = waypoints.size();
    for(int i=0;i<len;i++){
        autoware_msgs::Waypoint p1 = waypoints[i];
        autoware_msgs::Waypoint p2 = waypoints[(i+1)%len];
        autoware_msgs::Waypoint p3 = waypoints[(i+2)%len];
        double angle1 = calcAngle(p1, p2);
        double angle2 = calcAngle(p2, p3);
        double diff = angle2 - angle1;
        if(diff > M_PI){
            diff -= 2*M_PI;
        }else if(diff < -M_PI){
            diff += 2*M_PI;
        }
        if(abs(diff) < M_PI - 2){
            result.push_back(p2);
        }
    }
    // 这里开始进行点的平移
}

接下来，我们需要依次基于这些点的角平分的等距线法进行点的平移。为了方便计算，我们可以先定义一个函数来计算两个点之间的距离：

double calcDist(autoware_msgs::Waypoint p1, autoware_msgs::Waypoint p2){
    double dx = p2.pose.pose.position.x - p1.pose.pose.position.x;
    double dy = p2.pose.pose.position.y - p1.pose.pose.position.y;
    double dist = sqrt(dx*dx + dy*dy);
    return dist;
}

然后，我们可以在函数体中实现以上逻辑：

std::vector<autoware_msgs::Waypoint> waypointTranslation(std::vector<autoware_msgs::Waypoint> waypoints, double dis){
    std::vector<autoware_msgs::Waypoint> result;
    int len = waypoints.size();
    for(int i=0;i<len;i++){
        autoware_msgs::Waypoint p1 = waypoints[i];
        autoware_msgs::Waypoint p2 = waypoints[(i+1)%len];
        autoware_msgs::Waypoint p3 = waypoints[(i+2)%len];
        double angle1 = calcAngle(p1, p2);
        double angle2 = calcAngle(p2, p3);
        double diff = angle2 - angle1;
        if(diff > M_PI){
            diff -= 2*M_PI;
        }else if(diff < -M_PI){
            diff += 2*M_PI;
        }
        if(abs(diff) < M_PI - 2){
            result.push_back(p2);
        }
    }
    // 这里开始进行点的平移
    int len2 = result.size();
    for(int i=0;i<len2;i++){
        autoware_msgs::Waypoint p1 = result[(i-1+len2)%len2];
        autoware_msgs::Waypoint p2 = result[i];
        autoware_msgs::Waypoint p3 = result[(i+1)%len2];
        double angle1 = calcAngle(p1, p2);
        double angle2 = calcAngle(p2, p3);
        double midAngle = (angle1 + angle2) / 2;
        double dist = calcDist(p2, p3);
        double dx = dis * sin(midAngle);
        double dy = dis * cos(midAngle);
        if(dis < 0){
            dx = -dx;
            dy = -dy;
        }
        autoware_msgs::Waypoint newPoint;
        newPoint.pose.pose.position.x = p2.pose.pose.position.x + dx;
        newPoint.pose.pose.position.y = p2.pose.pose.position.y + dy;
        result[i] = newPoint;
    }
    return result;
}

最后，我们可以把以上代码整合起来：

#include <autoware_msgs/Waypoint.h>
#include <cmath>
#include <vector>

double calcAngle(autoware_msgs::Waypoint p1, autoware_msgs::Waypoint p2){
    double dx = p2.pose.pose.position.x - p1.pose.pose.position.x;
    double dy = p2.pose.pose.position.y - p1.pose.pose.position.y;
    double angle = atan2(dy, dx);
    return angle;
}

double calcDist(autoware_msgs::Waypoint p1, autoware_msgs::Waypoint p2){
    double dx = p2.pose.pose.position.x - p1.pose.pose.position.x;
    double dy = p2.pose.pose.position.y - p1.pose.pose.position.y;
    double dist = sqrt(dx*dx + dy*dy);
    return dist;
}

std::vector<autoware_msgs::Waypoint> waypointTranslation(std::vector<autoware_msgs::Waypoint> waypoints, double dis){
    std::vector<autoware_msgs::Waypoint> result;
    int len = waypoints.size();
    for(int i=0;i<len;i++){
        autoware_msgs::Waypoint p1 = waypoints[i];
        autoware_msgs::Waypoint p2 = waypoints[(i+1)%len];
        autoware_msgs::Waypoint p3 = waypoints[(i+2)%len];
        double angle1 = calcAngle(p1, p2);
        double angle2 = calcAngle(p2, p3);
        double diff = angle2 - angle1;
        if(diff > M_PI){
            diff -= 2*M_PI;
        }else if(diff < -M_PI){
            diff += 2*M_PI;
        }
        if(abs(diff) < M_PI - 2){
            result.push_back(p2);
        }
    }
    int len2 = result.size();
    for(int i=0;i<len2;i++){
        autoware_msgs::Waypoint p1 = result[(i-1+len2)%len2];
        autoware_msgs::Waypoint p2 = result[i];
        autoware_msgs::Waypoint p3 = result[(i+1)%len2];
        double angle1 = calcAngle(p1, p2);
        double angle2 = calcAngle(p2, p3);
        double midAngle = (angle1 + angle2) / 2;
        double dist = calcDist(p2, p3);
        double dx = dis * sin(midAngle);
        double dy = dis * cos(midAngle);
        if(dis < 0){
            dx = -dx;
            dy = -dy;
        }
        autoware_msgs::Waypoint newPoint;
        newPoint.pose.pose.position.x = p2.pose.pose.position.x + dx;
        newPoint.pose.pose.position.y = p2.pose.pose.position.y + dy;
        result[i] = newPoint;
    }
    return result;
}