feat: publish rolling trajectories without stop tails

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/EmTrajectoryAssembler.cs

@@ -39,7 +39,8 @@ public sealed class EmTrajectoryAssembler
             throw new ArgumentNullException(nameof(metadata));
 
         var interpolator = new LateralPathInterpolator(path);
-        var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds, zeroSpeedHoldSeconds);
+        var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds, zeroSpeedHoldSeconds,
+            metadata.LongitudinalMode);
         double terminalPathS = path.Points[path.Points.Count - 1].PathS;
         var points = new List<EmTrajectoryPoint>(schedule.Samples.Count);
         double directionSign = metadata.Direction == TravelDirection.Forward ? 1d : -1d;
@@ -51,7 +52,8 @@ public sealed class EmTrajectoryAssembler
                 throw new ArgumentException("Longitudinal PathS exceeds the assembled lateral path.", nameof(longitudinal));
 
             InterpolatedLateralPathPoint geometry = interpolator.Interpolate(sample.PathS);
-            bool isTerminalAnchor = index == longitudinal.Candidate.KnotTimes.Count - 1;
+            bool isTerminalAnchor = metadata.LongitudinalMode == EmLongitudinalMode.ExactStopAtBoundary &&
+                index == schedule.TerminalAnchorSampleIndex;
             EmBoundaryType boundaryType = isTerminalAnchor ? ToBoundaryType(metadata.TerminalType) : EmBoundaryType.None;
             double signedSpeed = directionSign * sample.ProgressSpeed;
             points.Add(new EmTrajectoryPoint(geometry.X, geometry.Y, geometry.Yaw, signedSpeed, sample.TimeFromStart,