feat: validate EM terminal world pose

ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs

@@ -22,6 +22,7 @@ internal static class EmPlanningServiceChecks
         VerifiesNoProgressPublishesNoTrajectory();
         VerifiesTimeoutFallbackAndCancellationSemantics();
         VerifiesPublicationFailureAndDebugIsolation();
+        VerifiesPublicationGateStatusMappings();
     }
 
     private static void VerifiesForwardReverseAndBoundarySuccessesAreDeterministic()
@@ -427,6 +428,20 @@ internal static class EmPlanningServiceChecks
         VerifySuccess(debugIsolated, debugRequest, EmTerminalType.Goal, "debug-sink isolation");
     }
 
+    private static void VerifiesPublicationGateStatusMappings()
+    {
+        Verification.Equal(EmPlanningStatus.TerminalPoseMismatch,
+            EmPlanningService.MapPublicationFailure(EmTrajectoryValidationFailure.TerminalPoseMismatch),
+            "terminal-pose validator failure has its precise service status");
+
+        EmPlanningRequest sampleLimited = CreateRequest(TravelDirection.Forward, 0d, false, false);
+        sampleLimited.Configuration.Scheduling.MaximumPublishedSampleCount = 2;
+        EmPlanningResult sampleLimitResult = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
+            sampleLimited, CancellationToken.None);
+        VerifyFailure(sampleLimitResult, EmPlanningStatus.FullSegmentResourceLimitExceeded,
+            "sample-limit publication failure");
+    }
+
     private static void VerifiesPreviousTrajectoryIsALongitudinalSoftReference()
     {
         EmPlanningRequest request = CreateRequest(TravelDirection.Forward, 0d, false, false);