fix: treat near-zero start as stopped in full-direction schedule

ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs

@@ -17,6 +17,7 @@ internal static class LongitudinalIntegrationChecks
         VerifiesFullDirectionStaticStartMakesProgress();
         VerifiesFullDirectionNearZeroSpeedUsesStaticStartSeed();
         VerifiesFullDirectionCurvedNearZeroStartUsesStaticStartSeed();
+        VerifiesFullDirectionNearZeroScheduleDurationIsReasonable();
         VerifiesFullDirectionPublicationDoesNotDuplicateItsTerminalHold();
         VerifiesExactStopIncludesAStabilizationTail();
         VerifiesLastStrictCandidateSurvivesLaterTimeout();
@@ -224,6 +225,29 @@ internal static class LongitudinalIntegrationChecks
             "curved near-zero start stops at the terminal boundary");
     }
 
+    private static void VerifiesFullDirectionNearZeroScheduleDurationIsReasonable()
+    {
+        EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
+        LateralPath path = new LateralPath(new[]
+        {
+            Point(0d, 0d, 0d),
+            Point(1d, 2.25d, 0.1d),
+            Point(2d, 4.5d, 0d),
+        }, true);
+
+        EmPlanningStatus status = new PathSpeedLimitBuilder().Build(path, TravelDirection.Forward, 0.0001d,
+            EmTerminalType.Goal, configuration, out PathSpeedLimit speedLimit, out string failureReason);
+        Verification.Equal(EmPlanningStatus.Success, status, "near-zero duration envelope: " + failureReason);
+        status = new FullDirectionSegmentScheduleBuilder().TryBuild(path, speedLimit, 0.0001d, 0d,
+            configuration.Longitudinal.DesiredForwardSpeedMetersPerSecond, configuration,
+            out LongitudinalKnotSchedule schedule, out failureReason);
+        Verification.Equal(EmPlanningStatus.Success, status, "near-zero duration schedule: " + failureReason);
+
+        double duration = schedule.KnotTimes[schedule.KnotTimes.Count - 1];
+        Verification.True(duration < 120d,
+            "near-zero schedule duration is normal: " + duration.ToString("R", System.Globalization.CultureInfo.InvariantCulture));
+    }
+
     private static void VerifiesFullDirectionPublicationDoesNotDuplicateItsTerminalHold()
     {
         EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();