From 7e11683b5518ddd3a557634f888d335e2c130ee8 Mon Sep 17 00:00:00 2001
From: Eugene Kuznetsov <eugene.kuznetsov.de@gmail.com>
Date: Wed, 29 Apr 2026 19:39:23 +0200
Subject: [PATCH] ...

---
 homework_04/src/main.cpp | 22 ++++------------------
 1 file changed, 4 insertions(+), 18 deletions(-)

diff --git a/homework_04/src/main.cpp b/homework_04/src/main.cpp
index 42894b6..ab723c1 100644
--- a/homework_04/src/main.cpp
+++ b/homework_04/src/main.cpp
@@ -1,22 +1,8 @@
+#include <cmath>
 #include <iostream>
+#include <fstream>
+#include <iomanip>
 
 int main(int argc, char** argv) {
-    if (argc != 2) {
-        std::cerr << "usage: ugv_odometry <input_path>\n";
-        return 1;
-    }
-
-    // TODO: implement wheel odometry for a 4-wheel differential-drive UGV.
-    //
-    // Parameters:
-    //   ticks_per_revolution = 1024
-    //   wheel_radius_m       = 0.3
-    //   wheelbase_m          = 1.0
-    //
-    // Input:  text file with 5 whitespace-separated numbers per line:
-    //         timestamp_ms fl_ticks fr_ticks bl_ticks br_ticks
-    // Output: same tabular format on stdout, starting from the second sample:
-    //         timestamp_ms x y theta
-
-    return 0;
+    return 0
 }