feat: optimize lateral paths with SQP

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/LateralPlanner.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Threading;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Public lateral-planning entry point backed by the solver-neutral SQP optimizer.</summary>
+public sealed class LateralPlanner
+{
+    private readonly SequentialConvexOptimizer _optimizer;
+
+    public LateralPlanner(IQpSolver qpSolver)
+    {
+        _optimizer = new SequentialConvexOptimizer(qpSolver ?? throw new ArgumentNullException(nameof(qpSolver)));
+    }
+
+    public LateralPlanningResult Plan(LateralPlanningInput input, CancellationToken cancellationToken)
+    {
+        return _optimizer.Optimize(input, cancellationToken);
+    }
+}