新增倒车以及项目结构优化

MultiWheelC/Control/Longitudinal/PidLongitudinalController.cs

@@ -85,16 +85,16 @@ namespace MultiWheelC.Control.Longitudinal
             _feedbackPid.LastDerivativeOutput;
 
         /// <summary>
-        /// 根据轨迹参考速度和Detour实际纵向速度计算底盘命令速度。
+        /// 根据本周期控制参考速度和实际纵向速度计算底盘命令速度。
         /// </summary>
         public double ComputeSpeedMetersPerSecond(
             PathTrackingContext context)
         {
-            var referenceSpeedMetersPerSecond =
-                context.ReferenceSpeedMetersPerSecond;
+            var controlReferenceSpeedMetersPerSecond =
+                context.ControlReferenceSpeedMetersPerSecond;
 
             // 轨迹明确要求停车时直接输出零，防止速度反馈使车辆在终点反向纠偏。
-            if (Math.Abs(referenceSpeedMetersPerSecond) <=
+            if (Math.Abs(controlReferenceSpeedMetersPerSecond) <=
                 ReferenceStopDeadbandMetersPerSecond)
             {
                 Reset();
@@ -106,11 +106,11 @@ namespace MultiWheelC.Control.Longitudinal
             {
                 Reset();
                 return LimitReferenceSpeed(
-                    referenceSpeedMetersPerSecond);
+                    controlReferenceSpeedMetersPerSecond);
             }
 
             var speedErrorMetersPerSecond =
-                referenceSpeedMetersPerSecond -
+                controlReferenceSpeedMetersPerSecond -
                 context.ActualLongitudinalSpeedMetersPerSecond;
 
             // Detour差分速度在参考速度附近会有小幅波动；死区内只使用速度前馈，
@@ -120,24 +120,24 @@ namespace MultiWheelC.Control.Longitudinal
             {
                 Reset();
                 return LimitReferenceSpeed(
-                    referenceSpeedMetersPerSecond);
+                    controlReferenceSpeedMetersPerSecond);
             }
 
             GetCorrectionOutputRange(
-                referenceSpeedMetersPerSecond,
+                controlReferenceSpeedMetersPerSecond,
                 out var minimumCorrectionMetersPerSecond,
                 out var maximumCorrectionMetersPerSecond);
 
             var correctionMetersPerSecond =
                 _feedbackPid.Update(
-                    referenceSpeedMetersPerSecond,
+                    controlReferenceSpeedMetersPerSecond,
                     context
                         .ActualLongitudinalSpeedMetersPerSecond,
                     context.DeltaTimeSeconds,
                     minimumCorrectionMetersPerSecond,
                     maximumCorrectionMetersPerSecond);
 
-            return referenceSpeedMetersPerSecond +
+            return controlReferenceSpeedMetersPerSecond +
                    correctionMetersPerSecond;
         }