Add reference limiter to steering_controllers library

[christophfroehlich]

Description

Add reference limiter to steering_controllers library, similar to #2313

Fixes #2129

Is this user-facing behavior change?

Only if parameterized as such.

Did you use Generative AI?

GPT-5.3 Codex to apply the changes from #2313 to the steering lib.

[codecov]

Codecov Report

❌ Patch coverage is 83.11688% with 26 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.85%. Comparing base (8ad7d35) to head (1ad407c).
⚠️ Report is 5 commits behind head on master.

Files with missing lines	Patch %	Lines
...llers_library/src/steering_controllers_library.cpp	59.01%	22 Missing and 3 partials ⚠️
...library/test/test_steering_controllers_library.cpp	98.92%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2413      +/-   ##
==========================================
- Coverage   86.88%   86.85%   -0.03%     
==========================================
  Files         148      148              
  Lines       16207    16354     +147     
  Branches     1362     1372      +10     
==========================================
+ Hits        14081    14204     +123     
- Misses       1618     1640      +22     
- Partials      508      510       +2     

Flag	Coverage Δ
unittests	86.85% <83.11%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
...library/test/test_steering_controllers_library.hpp	97.64% <ø> (ø)
...library/test/test_steering_controllers_library.cpp	98.92% <98.92%> (ø)
...llers_library/src/steering_controllers_library.cpp	65.42% <59.01%> (-1.76%)	⬇️

... and 2 files with indirect coverage changes

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[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?