编译命令：
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1


1. TrajectoryPoint.cs       已完成
2. Trajectory2D.cs          下一步
3. TrajectoryProjection.cs  定义一次投影结果
4. TrajectoryProjector.cs   实现连续线段投影
5. TrajectoryBuilder.cs     原始离散点转标准轨迹

1. VehicleState.cs
        ↓
2. FirstOrderLowPassFilter.cs
        ↓
3. VelocityEstimator2D.cs
        ↓
4. IVehicleStateProvider.cs
        ↓
5. DetourVehicleStateProvider.cs


private const double LinearVelocityFilterTimeConstantSeconds =
    0.15;

private const double AngularVelocityFilterTimeConstantSeconds =
    0.20;

PathTrackingContext.cs
LateralControlCommand.cs
ILateralController.cs
ILongitudinalController.cs
GcpMotionCommand.cs
AckermannGcpAllocator.cs
StanleyLateralController.cs
PidLongitudinalController.cs
GcpCommandExecutor.cs
ParkingGeometricController.cs
