新增倒车以及项目结构优化

MultiWheelC/Control/Abstractions/PathTrackingContext.cs

@@ -15,20 +15,20 @@ namespace MultiWheelC.Control.Abstractions
         public PathTrackingContext(
             VehicleState vehicleState,
             TrajectoryProjection projection,
-            double referenceSpeedMetersPerSecond,
+            double controlReferenceSpeedMetersPerSecond,
             double deltaTimeSeconds)
         {
             EnsureFinite(
-                referenceSpeedMetersPerSecond,
-                nameof(referenceSpeedMetersPerSecond));
+                controlReferenceSpeedMetersPerSecond,
+                nameof(controlReferenceSpeedMetersPerSecond));
             EnsureFinitePositive(
                 deltaTimeSeconds,
                 nameof(deltaTimeSeconds));
 
             VehicleState = vehicleState;
             Projection = projection;
-            ReferenceSpeedMetersPerSecond =
-                referenceSpeedMetersPerSecond;
+            ControlReferenceSpeedMetersPerSecond =
+                controlReferenceSpeedMetersPerSecond;
             DeltaTimeSeconds = deltaTimeSeconds;
         }
 
@@ -48,9 +48,9 @@ namespace MultiWheelC.Control.Abstractions
         public double DeltaTimeSeconds { get; }
 
         /// <summary>
-        /// 获取轨迹投影点要求的有符号参考速度，单位为m/s。
+        /// 获取轨迹原始速度经过起步释放和制动预瞄处理后，本控制周期实际使用的有符号参考速度，单位为m/s。
         /// </summary>
-        public double ReferenceSpeedMetersPerSecond { get; }
+        public double ControlReferenceSpeedMetersPerSecond { get; }
 
         /// <summary>
         /// 获取车辆在车体X轴方向上的实际纵向速度，单位为m/s。
@@ -60,7 +60,7 @@ namespace MultiWheelC.Control.Abstractions
                 .VxMetersPerSecond;
 
         /// <summary>
-        /// 获取轨迹投影点的参考曲率，单位为1/m，左转为正。
+        /// 获取沿轨迹执行点序定义的参考曲率，单位为1/m，左弯为正。
         /// </summary>
         public double ReferenceCurvaturePerMeter =>
             Projection.ReferencePoint