chore: save current workspace progress

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSegmentChecks.cs

@@ -17,6 +17,7 @@ internal static class TrajectoryObservationSegmentChecks
         RejectsNonTerminalOrMismatchedGearTrajectory();
         ResetsConfirmationForInvalidDirectionEvidence();
         CompletesOneSegmentWithoutIndexingPastTheEnd();
+        CompletesSingleForwardGoalTrajectory();
     }
 
     private static void RejectsHardcodedActiveSegmentIndex()
@@ -112,6 +113,22 @@ internal static class TrajectoryObservationSegmentChecks
         Verification.Equal(0, tracker.State.ActiveSegmentIndex, "completed tracker retains final segment index");
     }
 
+    private static void CompletesSingleForwardGoalTrajectory()
+    {
+        DateTimeOffset t0 = new DateTimeOffset(2026, 8, 6, 3, 30, 0, TimeSpan.Zero);
+        var tracker = new TrajectoryObservationSegmentTracker(new[]
+        {
+            CreateSegment(0, TravelDirection.Forward, 0d, 1d, false, 0d, EmBoundaryType.None, EmBoundaryType.Goal),
+        }, CreateSettings(), 0.01d);
+
+        TrajectoryObservationSegmentUpdate completed = tracker.Update(t0, StateAtSwitch(0d, t0, 1L),
+            GoalTerminal(t0));
+
+        Verification.True(completed.Completed, "single forward Goal trajectory reports completion");
+        Verification.Equal(TrajectoryObservationSegmentPhase.Completed, tracker.State.Phase,
+            "single forward Goal reaches completed without requiring a gear-switch terminal");
+    }
+
     private static void AssertConfirmationReset(DateTimeOffset t0, VehicleMotionState invalidState,
         EmTrajectory invalidTrajectory, string name)
     {
@@ -196,4 +213,16 @@ internal static class TrajectoryObservationSegmentChecks
                 direction, EmBoundaryType.GearSwitchApproach, 0d, 0d),
         });
     }
+
+    private static EmTrajectory GoalTerminal(DateTimeOffset effectiveAtUtc)
+    {
+        var metadata = new EmTrajectoryMetadata("goal-terminal-" + effectiveAtUtc.Ticks, effectiveAtUtc,
+            effectiveAtUtc, 1L, "segment-check", 1L, string.Empty, 0, TravelDirection.Forward,
+            EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.FullDirectionSegment);
+        return new EmTrajectory(metadata, new[]
+        {
+            new EmTrajectoryPoint(1d, 0d, 0d, 0d, 0d, 0d, 0, 1d, 1d,
+                TravelDirection.Forward, EmBoundaryType.Goal, 0d, 0d),
+        });
+    }
 }