test: verify EM observation movement test

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -25,6 +25,7 @@ internal static class TrajectoryObservationChecks
         VerifiesLsPresentationUsesPathSOnHorizontalAxis();
         VerifiesRollingRequestUsesOnePublishedTrajectorySnapshot();
         FreezesBootstrapVehicleForRollingRequests();
+        VerifiesEmptyMapBootstrapProducesPublishableReference();
     }
 
     private static void VerifiesObservationSourceHasNoActuatorCalls()
@@ -259,6 +260,36 @@ internal static class TrajectoryObservationChecks
             expectedMaximumCurvature, expectedMinimumRadius, "replaced bootstrap job vehicle");
     }
 
+    private static void VerifiesEmptyMapBootstrapProducesPublishableReference()
+    {
+        var settings = new TrajectoryObservationSettings();
+        CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
+            new Pose2D(0.5d, 0.5d, 0d), new Pose2D(3.5d, 0.5d, 0d), settings,
+            Array.Empty<TrajectoryObservationObstacle>(), 0L);
+
+        TrajectoryObservationBootstrapResult bootstrap = new TrajectoryObservationBootstrapper()
+            .Bootstrap(job, CancellationToken.None);
+
+        Verification.True(bootstrap.Succeeded, "observer empty-map bootstrap succeeds");
+        Verification.True(bootstrap.CoarseResult.MapResult.Succeeded,
+            "observer empty-map bootstrap builds a successful map");
+        Verification.True(bootstrap.Map != null, "observer empty-map bootstrap returns a map");
+        Verification.Equal(PlanningStatus.Success, bootstrap.CoarseResult.PlanningResult.Status,
+            "observer empty-map coarse planning succeeds");
+        Verification.True(bootstrap.SmoothedPath != null && IsPublishableSmoothingStatus(bootstrap.SmoothedPath.Status),
+            "observer empty-map bootstrap returns a publishable smoothing result");
+        Verification.True(bootstrap.Segments.Count > 0,
+            "observer empty-map bootstrap returns at least one direction segment");
+    }
+
+    private static bool IsPublishableSmoothingStatus(PathSmoothingStatus status)
+    {
+        return status == PathSmoothingStatus.Complete ||
+            status == PathSmoothingStatus.PartialImprovement ||
+            status == PathSmoothingStatus.NotNeeded ||
+            status == PathSmoothingStatus.Unchanged;
+    }
+
     private static void AssertVehicleSnapshot(VehicleParameters actual, double expectedLength, double expectedWidth,
         double expectedMargin, double? expectedMaximumCurvature, double? expectedMinimumRadius, string name)
     {