test: cover rolling-to-stop EM planning flow

ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs

@@ -28,9 +28,11 @@ internal static class LongitudinalIntegrationChecks
     private static void VerifiesRollingOptimizationKeepsANonzeroTerminalSpeed()
     {
         EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
+        configuration.Scheduling.DistanceHorizonMeters = 5d;
         configuration.Scheduling.TimeHorizonSeconds = 2d;
         configuration.Scheduling.OutputTimeStepSeconds = 0.10d;
         configuration.Scheduling.SolverTimeoutSeconds = 1d;
+        configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.20d;
         LateralPath path = new LateralPath(new[]
         {
             Point(0d, 0d, 0d),
@@ -46,9 +48,10 @@ internal static class LongitudinalIntegrationChecks
             CancellationToken.None);
 
         Verification.Equal(EmPlanningStatus.SuccessWithFallback, result.Status,
-            "rolling seed remains a strict timeout fallback");
+            "rolling seed remains a strict timeout fallback: " + result.FailureReason);
         LongitudinalCandidate candidate = result.Candidate ??
             throw new InvalidOperationException("Rolling timeout fallback candidate was missing.");
+        Verification.Equal(21, candidate.KnotTimes.Count, "two-second ST emits twenty-one knots");
         Verification.True(candidate.S[candidate.S.Count - 1] < input.PathUpperBoundS,
             "two-second ST does not consume the five-metre LS window");
         Verification.True(candidate.U[candidate.U.Count - 1] > 0.01d,