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>