feat: observe EM planning across gear segments

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSegmentChecks.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
 using MultiWheelC.TrajectoryPlanning.CoarsePath;
 using MultiWheelC.TrajectoryPlanning.EMPlanner;
 using MultiWheelC.TrajectoryPlanning.PathSmoothing;
@@ -11,12 +12,23 @@ internal static class TrajectoryObservationSegmentChecks
 {
     public static void Run()
     {
+        RejectsHardcodedActiveSegmentIndex();
         AdvancesOnlyAfterContinuousStopAndStableNextDirection();
         RejectsNonTerminalOrMismatchedGearTrajectory();
         ResetsConfirmationForInvalidDirectionEvidence();
         CompletesOneSegmentWithoutIndexingPastTheEnd();
     }
 
+    private static void RejectsHardcodedActiveSegmentIndex()
+    {
+        string pipelinePath = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot",
+            "ParkrobTrajplanner", "tarjplanner_movementtest", "TrajectoryObservationPipeline.cs");
+        string source = File.ReadAllText(pipelinePath);
+
+        Verification.True(source.IndexOf("segmentIndex = 0", StringComparison.Ordinal) < 0,
+            "active observation segment is not hardcoded to zero");
+    }
+
     private static void AdvancesOnlyAfterContinuousStopAndStableNextDirection()
     {
         DateTimeOffset t0 = new DateTimeOffset(2026, 8, 6, 0, 0, 0, TimeSpan.Zero);