# EM Complete Direction Visualization — Phase 02 Handoff

## Status

Complete on 2026-08-06.

Implementation commit: `3269d55` — `feat: derive adaptive full-segment ST schedule`

## Delivered scope

- Full-direction ST optimization knots and `T_end` are derived from the actual Local G2 `PathS` speed/stopping envelope and physical jerk/acceleration reachability.
- `LongitudinalKnotSchedule` is an optimization-only contract: knot times, `PathS`/speed references, and an explicit terminal-hold start index. It intentionally contains no reference candidate.
- Full exact stops first execute a bounded deterministic S/U/A/J feasibility QP through the injected `IQpSolver`. It uses nonuniform exact dynamics, actual-`PathS` speed-envelope relinearization, initial/terminal/hold equalities, hard acceleration/jerk bounds, and a shared solver budget.
- Only a strictly validated candidate can become a fallback. A timeout before one exists returns `SolverTimedOut`; a later timeout returns `SuccessWithFallback`.
- Full-scope publication resamples the optimized candidate and does not append the rolling zero-speed hold twice. Rolling-horizon publication behavior remains unchanged.

## Tests

The following commands were run sequentially with exit code 0:

```powershell
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
```

`em-core-all` was rerun after the implementation commit and passed. The only warnings were existing obsolete API warnings for `Lidar2dDetect2LegTray.LegWidth` and `MultiWheelChassis.GetSteerWheels()`.

## Worktree safeguards

The existing user changes in `EmPlannerConfiguration.cs` and `MovementTest.TrajectoryObservationTest.cs`, together with unrelated dirty changes, were not edited or staged.

Phase 03+ work (static start, NoProgress, terminal world pose, MovementTest, Web, Painter) remains out of scope.