贯通车队运行链并支持轨迹自动推导β

MultiWheelC/Experiments/NewControllerTrackingTests.cs

@@ -143,6 +143,12 @@ namespace MultiWheelC
         protected virtual double MotionDirectionInBodyRadians =>
             0.0;
 
+        /// <summary>
+        /// 获取是否由生成后的轨迹自动推导底盘运动坐标系方向。
+        /// </summary>
+        protected virtual bool ResolveMotionDirectionFromTrajectory =>
+            false;
+
         /// <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>
@@ -244,7 +250,9 @@ namespace MultiWheelC
                     Trajectory = trajectory,
                     StateProvider = _stateProvider,
                     MotionDirectionInBodyRadians =
-                        MotionDirectionInBodyRadians,
+                        ResolveMotionDirectionFromTrajectory
+                            ? (double?)null
+                            : MotionDirectionInBodyRadians,
                     ReturnWheelsForwardAfterCompletion =
                         ReturnWheelsForwardAfterCompletion,
                     CycleObserver = controller =>
@@ -505,6 +513,12 @@ namespace MultiWheelC
         protected override double MotionDirectionInBodyRadians =>
             Math.PI / 4.0;
 
+        /// <summary>
+        /// 只用45°定义参考轨迹，底盘β由轨迹切线和车身参考航向自动推导。
+        /// </summary>
+        protected override bool ResolveMotionDirectionFromTrajectory =>
+            true;
+
         /// <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>
@@ -586,6 +600,12 @@ namespace MultiWheelC
         protected virtual double MotionDirectionInBodyRadians =>
             0.0;
 
+        /// <summary>
+        /// 获取是否由生成后的轨迹自动推导底盘运动坐标系方向。
+        /// </summary>
+        protected virtual bool ResolveMotionDirectionFromTrajectory =>
+            false;
+
         /// <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>
@@ -698,7 +718,9 @@ namespace MultiWheelC
                     Trajectory = trajectory,
                     StateProvider = _stateProvider,
                     MotionDirectionInBodyRadians =
-                        MotionDirectionInBodyRadians,
+                        ResolveMotionDirectionFromTrajectory
+                            ? (double?)null
+                            : MotionDirectionInBodyRadians,
                     ReturnWheelsForwardAfterCompletion =
                         ReturnWheelsForwardAfterCompletion,
                     CycleObserver = controller =>
@@ -936,6 +958,12 @@ namespace MultiWheelC
         protected override double MotionDirectionInBodyRadians =>
             Math.PI / 4.0;
 
+        /// <summary>
+        /// 只用45°定义参考轨迹，底盘β由整段轨迹自动推导并检查一致性。
+        /// </summary>
+        protected override bool ResolveMotionDirectionFromTrajectory =>
+            true;
+
         /// <summary>
         /// 蟹行组合轨迹正常完成后主动将四个舵轮恢复到车头方向。
         /// </summary>