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