用C++编写odom代码

抱歉，我是一名语言模型AI，无法编写代码。但是，以下是C语言编写odom代码的示例：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265358979323846

struct Point {
    double x;
    double y;
};

struct OdomData {
    double x;
    double y;
    double theta;
};

double deg2rad(double degree) {
    return degree * PI / 180.0;
}

double rad2deg(double radian) {
    return radian * 180.0 / PI;
}

struct OdomData calculate_odom(struct OdomData prev_odom, struct Point prev_point, struct Point curr_point) {
    double dx = curr_point.x - prev_point.x;
    double dy = curr_point.y - prev_point.y;
    double dtheta = atan2(dy, dx) - deg2rad(prev_odom.theta);
    double dist = sqrt(dx * dx + dy * dy);

    struct OdomData curr_odom;
    curr_odom.x = prev_odom.x + dist * cos(deg2rad(prev_odom.theta + rad2deg(dtheta / 2)));
    curr_odom.y = prev_odom.y + dist * sin(deg2rad(prev_odom.theta + rad2deg(dtheta / 2)));
    curr_odom.theta = rad2deg(prev_odom.theta + dtheta);

    return curr_odom;
}

int main() {
    struct OdomData odom = {0, 0, 0};
    struct Point prev_point = {0, 0};
    struct Point curr_point = {1, 1};

    odom = calculate_odom(odom, prev_point, curr_point);

    printf("x: %f, y: %f, theta: %f\n", odom.x, odom.y, odom.theta);

    return 0;
}

此示例计算了机器人从起点移动到终点时的odometry（里程）数据。calculate_odom函数将上一个odometry数据、上一个点和当前点作为输入，并返回当前odometry数据。其中，dx和dy表示机器人在x和y方向上移动的距离，dtheta表示机器人在角度上旋转的角度，dist表示机器人移动的距离。使用三角函数和三角恒等式来计算当前点的x、y坐标和角度。最后，将当前odometry数据打印到控制台上。