chore: save current workspace progress

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs

@@ -12,6 +12,7 @@ internal static class TrajectoryChecks
     public static void Run()
     {
         VerifiesForwardFieldsExactTerminalAndHold();
+        VerifiesSegmentLocalReferenceStationIsPublished();
         VerifiesReverseTravelVelocityAndUnwrappedYaw();
         VerifiesPublishedListsAreImmutable();
         VerifiesRollingTrajectoryHasNoSyntheticStopTail();
@@ -49,6 +50,30 @@ internal static class TrajectoryChecks
             "reverse yaw interpolation unwraps across the pi boundary");
     }
 
+    private static void VerifiesSegmentLocalReferenceStationIsPublished()
+    {
+        EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
+            CreatePath(TravelDirection.Forward, 0d, 0d), CreateLongitudinalResult(),
+            CreateMetadata(TravelDirection.Forward, EmTerminalType.Goal));
+
+        EmTrajectoryPoint terminal = trajectory.Points[trajectory.Points.Count - 1];
+        Verification.NearlyEqual(1d, terminal.SegmentLocalS,
+            "published SegmentLocalS retains the lateral path reference station");
+        Verification.NearlyEqual(0.12d, terminal.PathS,
+            "published PathS remains the longitudinal actual path distance");
+
+        ValidationContext context = CreateValidationContext();
+        EmTrajectory validationTrajectory = CreateValidationTrajectory(TravelDirection.Forward);
+        EmTrajectoryValidationResult accepted = new EmTrajectoryValidator().Validate(validationTrajectory, context.EmptyMap,
+            context.Vehicle, context.Configuration, 2, 1d, 0.0055d, EmBoundaryType.Goal);
+        Verification.True(accepted.IsValid,
+            "publication validates reference and actual path bounds independently: " + accepted.Message);
+        EmTrajectoryValidationResult segmentExceeded = new EmTrajectoryValidator().Validate(validationTrajectory,
+            context.EmptyMap, context.Vehicle, context.Configuration, 2, 0.5d, 0.0055d, EmBoundaryType.Goal);
+        Verification.Equal(EmTrajectoryValidationFailure.SegmentBoundaryExceeded, segmentExceeded.Failure,
+            "segment-local reference bound is checked independently of PathS");
+    }
+
     private static void VerifiesPublishedListsAreImmutable()
     {
         EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(