move_to_pose.py not consistent with book when alpha > pi/2

[qlibp]

Describe the bug As the book says,

For the case where the goal is behind the robot, that is α ∉ (−pi/2 , pi/2 ], we reverse the vehicle by negating v and γ in the control law

But the implementation here just negate linear velocity.

Expected behavior I tested with negating both linear velocity & angular velocity, the control vibrates, but the overall trajectory makes more sense than only negating the linear velocity.

Screenshots

1. Negate Both

2. Negate only linear velocity