测试后可正常执行

MultiWheelC/Experiments/NewControllerTrackingTests.cs

@@ -137,6 +137,18 @@ namespace MultiWheelC
         protected virtual string ExperimentTrajectoryBaseName =>
             "ProfiledStraight4m";
 
+        /// <summary>
+        /// 获取直线主运动方向相对车头的夹角，单位为rad。
+        /// </summary>
+        protected virtual double MotionDirectionInBodyRadians =>
+            0.0;
+
+        /// <summary>
+        /// 获取轨迹完成后是否需要将舵轮主动恢复到车头方向。
+        /// </summary>
+        protected virtual bool ReturnWheelsForwardAfterCompletion =>
+            false;
+
         /// <summary>
         /// 读取当前位姿、绘制离散轨迹并启动新版轨迹跟踪动作。
         /// </summary>
@@ -190,7 +202,8 @@ namespace MultiWheelC
                     CruiseSpeedMetersPerSecond,
                     AccelerationMetersPerSecondSquared,
                     DecelerationMetersPerSecondSquared,
-                    PointSpacingMeters);
+                    PointSpacingMeters,
+                    MotionDirectionInBodyRadians);
 
             DrawTrajectory(trajectory);
 
@@ -226,6 +239,10 @@ namespace MultiWheelC
                 {
                     Trajectory = trajectory,
                     StateProvider = _stateProvider,
+                    MotionDirectionInBodyRadians =
+                        MotionDirectionInBodyRadians,
+                    ReturnWheelsForwardAfterCompletion =
+                        ReturnWheelsForwardAfterCompletion,
                     CycleObserver = controller =>
                         RecordControlCycle(
                             recorder,
@@ -467,6 +484,32 @@ namespace MultiWheelC
             "ProfiledReverseStraight4m";
     }
 
+    /// <summary>
+    /// 将舵轮准备到车体左前45°，以0.4m/s跟踪4m直线，停车后再恢复车头方向。
+    /// </summary>
+    [MovementTest(name = "新版控制器：45°蟹行4m直线轨迹跟踪")]
+    public sealed class NewControllerCrab45Straight4mTest
+        : NewControllerStraight4mTest
+    {
+        /// <summary>
+        /// 使用车体左前45°作为本次直线轨迹的固定运动方向。
+        /// </summary>
+        protected override double MotionDirectionInBodyRadians =>
+            Math.PI / 4.0;
+
+        /// <summary>
+        /// 蟹行轨迹正常完成后主动将四个舵轮恢复到车头方向。
+        /// </summary>
+        protected override bool ReturnWheelsForwardAfterCompletion =>
+            true;
+
+        /// <summary>
+        /// 将45°蟹行实验与普通前进和倒车实验的CSV名称明确区分。
+        /// </summary>
+        protected override string ExperimentTrajectoryBaseName =>
+            "ProfiledCrab45Straight4m";
+    }
+
     /// <summary>
     /// 从当前Detour位姿开始执行“3m直线—左半圆—3m直线”新版控制器跟踪实验。
     /// </summary>

MultiWheelC/Experiments/TestTrajectoryFactory.cs

@@ -20,7 +20,8 @@ namespace MultiWheelC
             double cruiseSpeedMetersPerSecond = 0.30,
             double accelerationMetersPerSecondSquared = 0.20,
             double decelerationMetersPerSecondSquared = 0.20,
-            double pointSpacingMeters = 0.02)
+            double pointSpacingMeters = 0.02,
+            double motionDirectionInBodyRadians = 0.0)
         {
             return CreateStraight(
                 startPoseInWorld,
@@ -28,7 +29,8 @@ namespace MultiWheelC
                 cruiseSpeedMetersPerSecond,
                 accelerationMetersPerSecondSquared,
                 decelerationMetersPerSecondSquared,
-                pointSpacingMeters);
+                pointSpacingMeters,
+                motionDirectionInBodyRadians);
         }
 
         /// <summary>
@@ -40,7 +42,8 @@ namespace MultiWheelC
             double cruiseSpeedMetersPerSecond = 0.30,
             double accelerationMetersPerSecondSquared = 0.20,
             double decelerationMetersPerSecondSquared = 0.20,
-            double pointSpacingMeters = 0.02)
+            double pointSpacingMeters = 0.02,
+            double motionDirectionInBodyRadians = 0.0)
         {
             NumericGuard.EnsureFinite(
                 startPoseInWorld,
@@ -60,6 +63,9 @@ namespace MultiWheelC
             NumericGuard.EnsureFinitePositive(
                 pointSpacingMeters,
                 nameof(pointSpacingMeters));
+            NumericGuard.EnsureFinite(
+                motionDirectionInBodyRadians,
+                nameof(motionDirectionInBodyRadians));
 
             if (pointSpacingMeters > lengthMeters)
             {
@@ -73,10 +79,13 @@ namespace MultiWheelC
                 pointSpacingMeters);
             var points = new List<TrajectoryPoint>(
                 segmentCount + 1);
+            var worldMotionYawRadians =
+                startPoseInWorld.YawRadians +
+                motionDirectionInBodyRadians;
             var directionX = travelDirection *
-                Math.Cos(startPoseInWorld.YawRadians);
+                Math.Cos(worldMotionYawRadians);
             var directionY = travelDirection *
-                Math.Sin(startPoseInWorld.YawRadians);
+                Math.Sin(worldMotionYawRadians);
 
             for (var index = 0;
                  index <= segmentCount;