Fix steering controllers library code documentation and naming (backport #1149)

[mergify]

A follow-up to #1118, using consistent nomenclature introduced in #954

My commits do not change any logic or behavior, just make the code more readable.

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This is an automatic backport of pull request #1149 done by Mergify.

[codecov]

Codecov Report

Attention: Patch coverage is 74.35897% with 20 lines in your changes missing coverage. Please review.

Project coverage is 86.63%. Comparing base (8b9c2e2) to head (80ef36c).
Report is 1 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1164      +/-   ##
==========================================
- Coverage   86.82%   86.63%   -0.20%     
==========================================
  Files          86       86              
  Lines        7499     7487      -12     
  Branches      620      618       -2     
==========================================
- Hits         6511     6486      -25     
- Misses        753      767      +14     
+ Partials      235      234       -1     

Flag	Coverage Δ
unittests	86.63% <74.35%> (-0.20%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...g_controller/src/ackermann_steering_controller.cpp	80.00% <100.00%> (ø)
...steering_controllers_library/steering_odometry.hpp	100.00% <ø> (ø)
...ng_controller/src/tricycle_steering_controller.cpp	78.57% <100.00%> (ø)
...ing_controller/src/bicycle_steering_controller.cpp	75.00% <75.00%> (ø)
...ring_controllers_library/src/steering_odometry.cpp	73.79% <70.76%> (+4.76%)	⬆️

... and 3 files with indirect coverage changes