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
   

[gongbingyu]

@qlibp I agree with this view. I have also tried this measure, but there is a vibration situation. Can you tell me how you suppress vibration? Can you share that part of the code?