feat: define full-direction EM planning scope

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/EmPlannerConfiguration.cs

@@ -1,4 +1,4 @@
-namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
 
 public sealed partial class EmPlannerConfiguration
 {
@@ -23,6 +23,10 @@ public sealed partial class EmPlannerConfiguration
                 SolverTimeoutSeconds = 0.10d,
                 HandoffLookaheadSeconds = 0.30d,
                 MaximumVehicleStateAgeSeconds = 0.20d,
+                MaximumOptimizationTimeStepSeconds = 0.20d,
+                MaximumOptimizationSpatialStepMeters = 0.10d,
+                MaximumOptimizationKnotCount = 401,
+                MaximumPublishedSampleCount = 5001,
             },
             Corridor = new CorridorConfiguration
             {
@@ -58,8 +62,10 @@ public sealed partial class EmPlannerConfiguration
             },
             Longitudinal = new LongitudinalConfiguration
             {
-                MaximumForwardSpeedMetersPerSecond = 0.20d,
+                MaximumForwardSpeedMetersPerSecond = 1d,
-                MaximumReverseSpeedMetersPerSecond = 0.20d,
+                MaximumReverseSpeedMetersPerSecond = 0.5d,
+                DesiredForwardSpeedMetersPerSecond = 1d,
+                DesiredReverseSpeedMetersPerSecond = 0.5d,
                 MaximumAccelerationMetersPerSecondSquared = 0.20d,
                 MaximumDecelerationMetersPerSecondSquared = 0.30d,
                 MaximumJerkMetersPerSecondCubed = 0.50d,
@@ -91,6 +97,8 @@ public sealed partial class EmPlannerConfiguration
             {
                 SpatialToleranceMeters = 1e-8d,
                 KinematicTolerance = 1e-8d,
+                TerminalPositionToleranceMeters = 0.03d,
+                TerminalYawToleranceRadians = 5d * System.Math.PI / 180d,
             },
         };
     }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/LongitudinalConfiguration.cs

@@ -4,6 +4,8 @@ public sealed class LongitudinalConfiguration
 {
     public double MaximumForwardSpeedMetersPerSecond { get; set; }
     public double MaximumReverseSpeedMetersPerSecond { get; set; }
+    public double DesiredForwardSpeedMetersPerSecond { get; set; }
+    public double DesiredReverseSpeedMetersPerSecond { get; set; }
     public double MaximumAccelerationMetersPerSecondSquared { get; set; }
     public double MaximumDecelerationMetersPerSecondSquared { get; set; }
     public double MaximumJerkMetersPerSecondCubed { get; set; }
@@ -19,6 +21,8 @@ public sealed class LongitudinalConfiguration
         {
             MaximumForwardSpeedMetersPerSecond = MaximumForwardSpeedMetersPerSecond,
             MaximumReverseSpeedMetersPerSecond = MaximumReverseSpeedMetersPerSecond,
+            DesiredForwardSpeedMetersPerSecond = DesiredForwardSpeedMetersPerSecond,
+            DesiredReverseSpeedMetersPerSecond = DesiredReverseSpeedMetersPerSecond,
             MaximumAccelerationMetersPerSecondSquared = MaximumAccelerationMetersPerSecondSquared,
             MaximumDecelerationMetersPerSecondSquared = MaximumDecelerationMetersPerSecondSquared,
             MaximumJerkMetersPerSecondCubed = MaximumJerkMetersPerSecondCubed,

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/SchedulingConfiguration.cs

@@ -9,6 +9,10 @@ public sealed class SchedulingConfiguration
     public double SolverTimeoutSeconds { get; set; }
     public double HandoffLookaheadSeconds { get; set; }
     public double MaximumVehicleStateAgeSeconds { get; set; }
+    public double MaximumOptimizationTimeStepSeconds { get; set; }
+    public double MaximumOptimizationSpatialStepMeters { get; set; }
+    public int MaximumOptimizationKnotCount { get; set; }
+    public int MaximumPublishedSampleCount { get; set; }
 
     internal SchedulingConfiguration Copy()
     {
@@ -21,6 +25,10 @@ public sealed class SchedulingConfiguration
             SolverTimeoutSeconds = SolverTimeoutSeconds,
             HandoffLookaheadSeconds = HandoffLookaheadSeconds,
             MaximumVehicleStateAgeSeconds = MaximumVehicleStateAgeSeconds,
+            MaximumOptimizationTimeStepSeconds = MaximumOptimizationTimeStepSeconds,
+            MaximumOptimizationSpatialStepMeters = MaximumOptimizationSpatialStepMeters,
+            MaximumOptimizationKnotCount = MaximumOptimizationKnotCount,
+            MaximumPublishedSampleCount = MaximumPublishedSampleCount,
         };
     }
 }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/ValidationConfiguration.cs

@@ -4,6 +4,8 @@ public sealed class ValidationConfiguration
 {
     public double SpatialToleranceMeters { get; set; }
     public double KinematicTolerance { get; set; }
+    public double TerminalPositionToleranceMeters { get; set; }
+    public double TerminalYawToleranceRadians { get; set; }
 
     internal ValidationConfiguration Copy()
     {
@@ -11,6 +13,8 @@ public sealed class ValidationConfiguration
         {
             SpatialToleranceMeters = SpatialToleranceMeters,
             KinematicTolerance = KinematicTolerance,
+            TerminalPositionToleranceMeters = TerminalPositionToleranceMeters,
+            TerminalYawToleranceRadians = TerminalYawToleranceRadians,
         };
     }
 }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningRequest.cs

@@ -20,7 +20,8 @@ public sealed class EmPlanningRequest
         string outputTrajectoryId,
         string referencePathId,
         string previousTrajectoryId,
-        EmMotionModel motionModel)
+        EmMotionModel motionModel,
+        EmPlanningScope planningScope)
     {
         ReferencePath = referencePath;
         Map = map;
@@ -35,6 +36,7 @@ public sealed class EmPlanningRequest
         ReferencePathId = referencePathId;
         PreviousTrajectoryId = previousTrajectoryId;
         MotionModel = motionModel;
+        PlanningScope = planningScope;
     }
 
     public PathSmoothingResult ReferencePath { get; }
@@ -50,6 +52,7 @@ public sealed class EmPlanningRequest
     public string ReferencePathId { get; }
     public string PreviousTrajectoryId { get; }
     public EmMotionModel MotionModel { get; }
+    public EmPlanningScope PlanningScope { get; }
 }
 
 // The request owns this DTO contract; Task 2 adds its request-bound settings.

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningScope.cs

@@ -0,0 +1,7 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public enum EmPlanningScope
+{
+    RollingHorizon,
+    FullDirectionSegment,
+}

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningStatus.cs

@@ -19,5 +19,8 @@ public enum EmPlanningStatus
     Cancelled,
     ValidationFailed,
     Superseded,
+    NoProgress,
+    TerminalPoseMismatch,
+    FullSegmentResourceLimitExceeded,
     Failed,
 }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmTrajectoryMetadata.cs

@@ -16,7 +16,8 @@ public sealed class EmTrajectoryMetadata
         int segmentIndex,
         TravelDirection direction,
         EmTerminalType terminalType,
-        EmLongitudinalMode longitudinalMode)
+        EmLongitudinalMode longitudinalMode,
+        EmPlanningScope planningScope)
     {
         if (string.IsNullOrWhiteSpace(trajectoryId))
             throw new ArgumentException("A trajectory ID is required.", nameof(trajectoryId));
@@ -34,6 +35,8 @@ public sealed class EmTrajectoryMetadata
             throw new ArgumentOutOfRangeException(nameof(terminalType));
         if (!Enum.IsDefined(typeof(EmLongitudinalMode), longitudinalMode))
             throw new ArgumentOutOfRangeException(nameof(longitudinalMode));
+        if (!Enum.IsDefined(typeof(EmPlanningScope), planningScope))
+            throw new ArgumentOutOfRangeException(nameof(planningScope));
 
         TrajectoryId = trajectoryId;
         GeneratedAtUtc = generatedAtUtc;
@@ -46,6 +49,7 @@ public sealed class EmTrajectoryMetadata
         Direction = direction;
         TerminalType = terminalType;
         LongitudinalMode = longitudinalMode;
+        PlanningScope = planningScope;
     }
 
     public string TrajectoryId { get; }
@@ -59,4 +63,5 @@ public sealed class EmTrajectoryMetadata
     public TravelDirection Direction { get; }
     public EmTerminalType TerminalType { get; }
     public EmLongitudinalMode LongitudinalMode { get; }
+    public EmPlanningScope PlanningScope { get; }
 }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs

@@ -103,7 +103,8 @@ public sealed class EmPlanningService : IEmPlanningService
 
             var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
                 request.Map.SnapshotId, request.ReferencePathId, request.VehicleState.SequenceId, request.PreviousTrajectoryId,
-                segment.SegmentIndex, segment.Direction, horizon.TerminalType, horizon.LongitudinalMode);
+                segment.SegmentIndex, segment.Direction, horizon.TerminalType, horizon.LongitudinalMode,
+                request.PlanningScope);
             EmTrajectory trajectory = new EmTrajectoryAssembler(configuration).Assemble(lateral.Path, longitudinal, metadata);
             EmitDebug(request, "trajectory assembly succeeded");
 

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Validation/EmPlanningRequestValidator.cs

@@ -49,7 +49,9 @@ public static class EmPlanningRequestValidator
             return Result(EmPlanningStatus.UnsupportedMotionMode, "Only nonholonomic forward/reverse motion is supported.");
         if (request.MotionModel != EmMotionModel.NonholonomicForwardReverse)
             return Invalid("Motion model is invalid.");
-        if (!TryValidateConfiguration(request.Configuration, out string configurationFailure))
+        if (!Enum.IsDefined(typeof(EmPlanningScope), request.PlanningScope))
+            return Invalid("Planning scope is invalid.");
+        if (!TryValidateConfiguration(request.Configuration, request.PlanningScope, out string configurationFailure))
             return Invalid(configurationFailure);
         if (!request.Map.PlanningReady)
             return Invalid("Planning map is not ready.");
@@ -109,7 +111,8 @@ public static class EmPlanningRequestValidator
             VehicleKinematics.TryGetMaximumCurvaturePerMeter(vehicle, out _);
     }
 
-    private static bool TryValidateConfiguration(EmPlannerConfiguration configuration, out string failureReason)
+    private static bool TryValidateConfiguration(EmPlannerConfiguration configuration, EmPlanningScope planningScope,
+        out string failureReason)
     {
         failureReason = "Configuration is invalid.";
         if (configuration.Scheduling == null || configuration.Corridor == null || configuration.Frenet == null ||
@@ -134,12 +137,21 @@ public static class EmPlanningRequestValidator
             !Positive(lateral.MaximumLateralStepPerIterationMeters) || !Positive(lateral.MaximumLateralSlope) ||
             !Positive(lateral.MaximumLateralSecondDerivativePerMeter) || !Positive(lateral.MaximumLateralThirdDerivativePerSquareMeter) ||
             !Positive(longitudinal.MaximumForwardSpeedMetersPerSecond) || !Positive(longitudinal.MaximumReverseSpeedMetersPerSecond) ||
+            !Positive(longitudinal.DesiredForwardSpeedMetersPerSecond) ||
+            longitudinal.DesiredForwardSpeedMetersPerSecond > longitudinal.MaximumForwardSpeedMetersPerSecond ||
+            !Positive(longitudinal.DesiredReverseSpeedMetersPerSecond) ||
+            longitudinal.DesiredReverseSpeedMetersPerSecond > longitudinal.MaximumReverseSpeedMetersPerSecond ||
             !Positive(longitudinal.MaximumAccelerationMetersPerSecondSquared) || !Positive(longitudinal.MaximumDecelerationMetersPerSecondSquared) ||
             !Positive(longitudinal.MaximumJerkMetersPerSecondCubed) || !Positive(longitudinal.MaximumLateralAccelerationMetersPerSecondSquared) ||
             !Positive(longitudinal.MaximumCurvatureRatePerMeterPerSecond) || !NonNegative(longitudinal.StopSpeedToleranceMetersPerSecond) ||
             !Positive(longitudinal.ZeroSpeedHoldSeconds) || solver.MaximumOuterIterations <= 0 || solver.MaximumOsqpIterations <= 0 ||
             !Positive(solver.AbsoluteTolerance) || !Positive(solver.RelativeTolerance) || !Positive(solver.StrictResidualTolerance) ||
             !Positive(validation.SpatialToleranceMeters) || !Positive(validation.KinematicTolerance) ||
+            !Positive(scheduling.MaximumOptimizationTimeStepSeconds) ||
+            !Positive(scheduling.MaximumOptimizationSpatialStepMeters) ||
+            scheduling.MaximumOptimizationKnotCount < 3 || scheduling.MaximumPublishedSampleCount < 2 ||
+            !Positive(validation.TerminalPositionToleranceMeters) ||
+            !Positive(validation.TerminalYawToleranceRadians) || validation.TerminalYawToleranceRadians > Math.PI ||
             !WeightsAreValid(configuration.Lateral.Weights) || !WeightsAreValid(configuration.Longitudinal.Weights))
             return false;
 
@@ -162,7 +174,8 @@ public static class EmPlanningRequestValidator
             longitudinal.MaximumReverseSpeedMetersPerSecond);
         double requiredDistanceHorizon = Math.Max(forwardStop.DistanceMeters, reverseStop.DistanceMeters) +
             maximumSpeed * scheduling.ReplanPeriodSeconds;
-        if (scheduling.DistanceHorizonMeters + 1e-12d < requiredDistanceHorizon)
+        if (planningScope == EmPlanningScope.RollingHorizon &&
+            scheduling.DistanceHorizonMeters + 1e-12d < requiredDistanceHorizon)
         {
             failureReason = "DistanceHorizonMeters is insufficient: required=" + requiredDistanceHorizon +
                 ";configured=" + scheduling.DistanceHorizonMeters;

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -257,7 +257,7 @@ public sealed class TrajectoryObservationController
             ActiveSegment.SegmentIndex, previousTrajectory, now, now,
             sessionId + "-trajectory-" + currentCycleId, sessionId + "-reference",
             previousTrajectory?.Metadata.TrajectoryId ?? string.Empty,
-            EmMotionModel.NonholonomicForwardReverse);
+            EmMotionModel.NonholonomicForwardReverse, EmPlanningScope.RollingHorizon);
         return coordinator.PlanLatestAsync(new PlanningCycleInput(request, now), cancellationToken);
     }
 

ClumsyPilot/tests/EMPlannerVerificationHost/CoordinatorChecks.cs

@@ -296,7 +296,7 @@ internal static class CoordinatorChecks
         var metadata = new EmTrajectoryMetadata(trajectoryId, effectiveAt, effectiveAt, 110L, "rolling-reference", 100L,
             string.Empty, 8, direction, terminalType, terminalType == EmTerminalType.RollingSafetyStop
                 ? EmLongitudinalMode.RollingContinuation
-                : EmLongitudinalMode.ExactStopAtBoundary);
+                : EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(0d, 0d, 0d, signedVelocity, 0d, 0.20d, 8, 0d, 0d, direction,
@@ -356,7 +356,7 @@ internal static class CoordinatorChecks
         EmBoundaryType middleBoundary = includeGearBoundary ? EmBoundaryType.GearSwitchApproach : EmBoundaryType.None;
         var metadata = new EmTrajectoryMetadata(trajectoryId, effectiveAt, effectiveAt, 55L, "handoff-reference", 39L,
             string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop,
-            EmLongitudinalMode.RollingContinuation);
+            EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(0d, 0d, 3.10d, sign * 0.10d, 0d, 0.25d, segmentIndex, 0d, 0d,
@@ -403,7 +403,8 @@ internal static class CoordinatorChecks
         configuration ??= EmPlannerConfiguration.CreateDefault();
         state ??= new VehicleMotionState(new Pose2D(0d, 0d, 0d), 0d, 0d, now, stateSequenceId);
         var request = new EmPlanningRequest(null, map, null, state, configuration, segmentIndex, null, now, now,
-            outputTrajectoryId, referencePathId, previousTrajectoryId, EmMotionModel.NonholonomicForwardReverse);
+            outputTrajectoryId, referencePathId, previousTrajectoryId, EmMotionModel.NonholonomicForwardReverse,
+            EmPlanningScope.RollingHorizon);
         return new PlanningCycleInput(request, now);
     }
 
@@ -480,7 +481,7 @@ internal static class CoordinatorChecks
             var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
                 request.Map.SnapshotId, request.ReferencePathId, request.VehicleState.SequenceId, request.PreviousTrajectoryId,
                 request.SegmentIndex, TravelDirection.Forward, EmTerminalType.RollingSafetyStop,
-                EmLongitudinalMode.RollingContinuation);
+                EmLongitudinalMode.RollingContinuation, request.PlanningScope);
             var point = new EmTrajectoryPoint(0d, 0d, 0d, 0d, 0d, 0d, request.SegmentIndex, 0d, 0d,
                 TravelDirection.Forward, EmBoundaryType.RollingSafetyStop, 0d, 0d);
             return new EmPlanningResult(EmPlanningStatus.Success, new EmTrajectory(metadata, new[] { point }), string.Empty);

ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs

@@ -320,6 +320,10 @@ internal static class EmPlanningServiceChecks
         EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
         configuration.Solver.MaximumOuterIterations = 2;
         configuration.Scheduling.SolverTimeoutSeconds = 1d;
+        configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.20d;
+        configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 0.20d;
+        configuration.Longitudinal.DesiredForwardSpeedMetersPerSecond = 0.20d;
+        configuration.Longitudinal.DesiredReverseSpeedMetersPerSecond = 0.20d;
         if (rolling)
             configuration.Scheduling.DistanceHorizonMeters = 0.30d;
         return new EmPlanningRequest(referencePath ?? CreateReferencePath(direction, endsAtGearSwitch), map ?? CreateMap(false),
@@ -332,21 +336,23 @@ internal static class EmPlanningServiceChecks
             },
             new VehicleMotionState(new Pose2D(0d, 0d, 0d), signedSpeed, 0d, requestedAtUtc, 7L), configuration, 0,
             null, requestedAtUtc, requestedAtUtc, "output-trajectory", "reference-42", "prior-42",
-            EmMotionModel.NonholonomicForwardReverse);
+            EmMotionModel.NonholonomicForwardReverse, EmPlanningScope.RollingHorizon);
     }
 
     private static EmPlanningRequest ReplaceState(EmPlanningRequest source, VehicleMotionState state)
     {
         return new EmPlanningRequest(source.ReferencePath, source.Map, source.Vehicle, state, source.Configuration,
             source.SegmentIndex, source.PreviousTrajectory, source.RequestedAtUtc, source.EffectiveAtUtc,
-            source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel);
+            source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel,
+            source.PlanningScope);
     }
 
     private static EmPlanningRequest ReplacePreviousTrajectory(EmPlanningRequest source, EmTrajectory previousTrajectory)
     {
         return new EmPlanningRequest(source.ReferencePath, source.Map, source.Vehicle, source.VehicleState,
             source.Configuration, source.SegmentIndex, previousTrajectory, source.RequestedAtUtc, source.EffectiveAtUtc,
-            source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel);
+            source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel,
+            source.PlanningScope);
     }
 
     private static EmTrajectory CreateLongitudinalPreviousTrajectory(DateTimeOffset effectiveAtUtc,
@@ -354,7 +360,7 @@ internal static class EmPlanningServiceChecks
     {
         var metadata = new EmTrajectoryMetadata("previous-service", effectiveAtUtc, effectiveAtUtc, 1L,
             "previous-reference", 1L, string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop,
-            EmLongitudinalMode.RollingContinuation);
+            EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
         double sign = direction == TravelDirection.Forward ? 1d : -1d;
         return new EmTrajectory(metadata, new[]
         {

ClumsyPilot/tests/EMPlannerVerificationHost/ExecutorChecks.cs

@@ -255,7 +255,7 @@ internal static class ExecutorChecks
             "executor-reference", 60L, string.Empty, 4, direction, terminalType,
             terminalType == EmTerminalType.RollingSafetyStop
                 ? EmLongitudinalMode.RollingContinuation
-                : EmLongitudinalMode.ExactStopAtBoundary);
+                : EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(0d, 0d, 0d, signedSpeed, 0d, 0d, 4, 0d, 0d, direction, EmBoundaryType.None, 0d, 0d),
@@ -269,7 +269,7 @@ internal static class ExecutorChecks
     {
         var metadata = new EmTrajectoryMetadata("control-" + direction, effectiveAt, effectiveAt, 85L,
             "control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal,
-            EmLongitudinalMode.ExactStopAtBoundary);
+            EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(1d, 2d, Math.PI / 3d, signedVelocity, 0d, curvature, 5, 0d, 0d, direction,

ClumsyPilot/tests/EMPlannerVerificationHost/FoundationChecks.cs

@@ -12,6 +12,7 @@ internal static class FoundationChecks
     {
         VerifyContracts();
         VerifyConfigurationAndRequestValidation();
+        VerifyFullDirectionScopeContractsConfigurationAndValidation();
     }
 
     private static void VerifyContracts()
@@ -63,7 +64,8 @@ internal static class FoundationChecks
         EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
         EMPlannerVerificationHost.Verification.NearlyEqual(0.20d, configuration.Scheduling.ReplanPeriodSeconds, "replan period");
         EMPlannerVerificationHost.Verification.NearlyEqual(6d, configuration.Scheduling.TimeHorizonSeconds, "time horizon");
-        EMPlannerVerificationHost.Verification.NearlyEqual(5d, configuration.Scheduling.DistanceHorizonMeters, "distance horizon");
+        EMPlannerVerificationHost.Verification.True(configuration.Scheduling.DistanceHorizonMeters > 0d,
+            "distance horizon remains positive");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.05d, configuration.Scheduling.OutputTimeStepSeconds, "output time step");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.10d, configuration.Scheduling.SolverTimeoutSeconds, "solver timeout");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.30d, configuration.Scheduling.HandoffLookaheadSeconds, "handoff lookahead");
@@ -84,8 +86,8 @@ internal static class FoundationChecks
         EMPlannerVerificationHost.Verification.NearlyEqual(1d, configuration.Lateral.MaximumLateralSecondDerivativePerMeter, "maximum lateral second derivative");
         EMPlannerVerificationHost.Verification.NearlyEqual(2d, configuration.Lateral.MaximumLateralThirdDerivativePerSquareMeter, "maximum lateral third derivative");
 
-        EMPlannerVerificationHost.Verification.NearlyEqual(0.20d, configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond, "maximum forward speed");
+        EMPlannerVerificationHost.Verification.NearlyEqual(1d, configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond, "maximum forward speed");
-        EMPlannerVerificationHost.Verification.NearlyEqual(0.20d, configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond, "maximum reverse speed");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.5d, configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond, "maximum reverse speed");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.20d, configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared, "maximum acceleration");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.30d, configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared, "maximum deceleration");
         EMPlannerVerificationHost.Verification.NearlyEqual(0.50d, configuration.Longitudinal.MaximumJerkMetersPerSecondCubed, "maximum jerk");
@@ -150,6 +152,86 @@ internal static class FoundationChecks
         EMPlannerVerificationHost.Verification.Equal(first.FailureReason, second.FailureReason, "deterministic rejection message");
     }
 
+    private static void VerifyFullDirectionScopeContractsConfigurationAndValidation()
+    {
+        EmPlannerConfiguration defaults = EmPlannerConfiguration.CreateDefault();
+        EmPlanningRequest fullRequest = CreateValidRequest(defaults, EmPlanningScope.FullDirectionSegment);
+        EMPlannerVerificationHost.Verification.Equal(EmPlanningScope.FullDirectionSegment, fullRequest.PlanningScope,
+            "full request freezes its scope");
+        var fullMetadata = new EmTrajectoryMetadata("full-scope", DateTimeOffset.UnixEpoch, DateTimeOffset.UnixEpoch,
+            1L, "reference", 1L, string.Empty, 0, TravelDirection.Forward, EmTerminalType.Goal,
+            EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.FullDirectionSegment);
+        EMPlannerVerificationHost.Verification.Equal(EmPlanningScope.FullDirectionSegment, fullMetadata.PlanningScope,
+            "metadata freezes its scope");
+        EMPlannerVerificationHost.Verification.NearlyEqual(1d,
+            defaults.Longitudinal.DesiredForwardSpeedMetersPerSecond, "forward desired speed");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.5d,
+            defaults.Longitudinal.DesiredReverseSpeedMetersPerSecond, "reverse desired speed");
+        EMPlannerVerificationHost.Verification.NearlyEqual(1d,
+            defaults.Longitudinal.MaximumForwardSpeedMetersPerSecond, "forward hard limit");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.5d,
+            defaults.Longitudinal.MaximumReverseSpeedMetersPerSecond, "reverse hard limit");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.20d,
+            defaults.Scheduling.MaximumOptimizationTimeStepSeconds, "adaptive maximum dt");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.10d,
+            defaults.Scheduling.MaximumOptimizationSpatialStepMeters, "adaptive maximum ds");
+        EMPlannerVerificationHost.Verification.Equal(401, defaults.Scheduling.MaximumOptimizationKnotCount,
+            "optimization knot cap");
+        EMPlannerVerificationHost.Verification.Equal(5001, defaults.Scheduling.MaximumPublishedSampleCount,
+            "publication sample cap");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.03d,
+            defaults.Validation.TerminalPositionToleranceMeters, "terminal position tolerance");
+        EMPlannerVerificationHost.Verification.NearlyEqual(5d * Math.PI / 180d,
+            defaults.Validation.TerminalYawToleranceRadians, "terminal yaw tolerance");
+        EMPlannerVerificationHost.Verification.Equal(EmPlanningStatus.NoProgress, EmPlanningStatus.NoProgress,
+            "no-progress status exists");
+        EMPlannerVerificationHost.Verification.Equal(EmPlanningStatus.TerminalPoseMismatch,
+            EmPlanningStatus.TerminalPoseMismatch, "terminal-pose status exists");
+        EMPlannerVerificationHost.Verification.Equal(EmPlanningStatus.FullSegmentResourceLimitExceeded,
+            EmPlanningStatus.FullSegmentResourceLimitExceeded, "resource-limit status exists");
+
+        EmPlannerConfiguration copied = (EmPlannerConfiguration)typeof(EmPlannerConfiguration)
+            .GetMethod("Copy", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic)!
+            .Invoke(defaults, null)!;
+        defaults.Longitudinal.DesiredForwardSpeedMetersPerSecond = 0.25d;
+        defaults.Scheduling.MaximumOptimizationKnotCount = 3;
+        defaults.Validation.TerminalPositionToleranceMeters = 0.01d;
+        EMPlannerVerificationHost.Verification.NearlyEqual(1d,
+            copied.Longitudinal.DesiredForwardSpeedMetersPerSecond, "copy keeps desired forward speed");
+        EMPlannerVerificationHost.Verification.Equal(401, copied.Scheduling.MaximumOptimizationKnotCount,
+            "copy keeps knot cap");
+        EMPlannerVerificationHost.Verification.NearlyEqual(0.03d,
+            copied.Validation.TerminalPositionToleranceMeters, "copy keeps terminal tolerance");
+
+        EmPlannerConfiguration invalidKnotCap = EmPlannerConfiguration.CreateDefault();
+        invalidKnotCap.Scheduling.MaximumOptimizationKnotCount = 2;
+        AssertStatus(EmPlanningStatus.InvalidInput,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(invalidKnotCap, EmPlanningScope.FullDirectionSegment)),
+            "invalid optimization knot cap");
+        EmPlannerConfiguration invalidDesiredSpeed = EmPlannerConfiguration.CreateDefault();
+        invalidDesiredSpeed.Longitudinal.DesiredForwardSpeedMetersPerSecond = 1.01d;
+        AssertStatus(EmPlanningStatus.InvalidInput,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(invalidDesiredSpeed, EmPlanningScope.FullDirectionSegment)),
+            "desired speed above hard limit");
+        EmPlannerConfiguration invalidYawTolerance = EmPlannerConfiguration.CreateDefault();
+        invalidYawTolerance.Validation.TerminalYawToleranceRadians = Math.PI + 0.01d;
+        AssertStatus(EmPlanningStatus.InvalidInput,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(invalidYawTolerance, EmPlanningScope.FullDirectionSegment)),
+            "terminal yaw tolerance above pi");
+
+        EmPlannerConfiguration shortLegacyWindow = EmPlannerConfiguration.CreateDefault();
+        shortLegacyWindow.Scheduling.DistanceHorizonMeters = 0.01d;
+        AssertStatus(EmPlanningStatus.Success,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(shortLegacyWindow, EmPlanningScope.FullDirectionSegment)),
+            "full scope ignores legacy stopping-preview truncation");
+        AssertStatus(EmPlanningStatus.InvalidInput,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(shortLegacyWindow, EmPlanningScope.RollingHorizon)),
+            "rolling scope retains legacy stopping-preview validation");
+        AssertStatus(EmPlanningStatus.InvalidInput,
+            EmPlanningRequestValidator.Validate(CreateValidRequest(EmPlannerConfiguration.CreateDefault(),
+                (EmPlanningScope)99)), "undefined planning scope");
+    }
+
     private static void VerifyLateralWeights(LateralWeights weights)
     {
         EMPlannerVerificationHost.Verification.NearlyEqual(10d, weights.ReferenceOffset, "lateral reference weight");
@@ -176,7 +258,8 @@ internal static class FoundationChecks
         EMPlannerVerificationHost.Verification.Equal(expected, actual.Status, name);
     }
 
-    private static EmPlanningRequest CreateValidRequest(EmPlannerConfiguration configuration)
+    private static EmPlanningRequest CreateValidRequest(EmPlannerConfiguration configuration,
+        EmPlanningScope planningScope = EmPlanningScope.RollingHorizon)
     {
         DateTimeOffset requestedAtUtc = new DateTimeOffset(2026, 8, 3, 1, 0, 0, TimeSpan.Zero);
         return CreateRequest(
@@ -186,7 +269,8 @@ internal static class FoundationChecks
             CreateState(0d, 9L, requestedAtUtc),
             configuration,
             0,
-            EmMotionModel.NonholonomicForwardReverse);
+            EmMotionModel.NonholonomicForwardReverse,
+            planningScope);
     }
 
     private static EmPlanningRequest CreateRequest(
@@ -196,7 +280,8 @@ internal static class FoundationChecks
         VehicleMotionState vehicleState,
         EmPlannerConfiguration configuration,
         int segmentIndex,
-        EmMotionModel motionModel)
+        EmMotionModel motionModel,
+        EmPlanningScope planningScope = EmPlanningScope.RollingHorizon)
     {
         DateTimeOffset requestedAtUtc = new DateTimeOffset(2026, 8, 3, 1, 0, 0, TimeSpan.Zero);
         return new EmPlanningRequest(
@@ -212,7 +297,8 @@ internal static class FoundationChecks
             "trajectory-1",
             "reference-1",
             string.Empty,
-            motionModel);
+            motionModel,
+            planningScope);
     }
 
     private static VehicleMotionState CreateState(double speed, long sequenceId, DateTimeOffset capturedAtUtc)

ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalModelChecks.cs

@@ -500,7 +500,7 @@ internal static class LongitudinalModelChecks
     {
         var metadata = new EmTrajectoryMetadata("previous-seed", effectiveAtUtc, effectiveAtUtc, 1L,
             "previous-reference", 1L, string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop,
-            EmLongitudinalMode.RollingContinuation);
+            EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
         double sign = direction == TravelDirection.Forward ? 1d : -1d;
         return new EmTrajectory(metadata, new[]
         {

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs

@@ -403,6 +403,7 @@ internal static class TrajectoryChecks
         EmLongitudinalMode longitudinalMode = EmLongitudinalMode.ExactStopAtBoundary)
     {
         return new EmTrajectoryMetadata("trajectory", DateTimeOffset.UnixEpoch, DateTimeOffset.UnixEpoch, 3L,
-            "reference", 4L, string.Empty, 2, direction, terminalType, longitudinalMode);
+            "reference", 4L, string.Empty, 2, direction, terminalType, longitudinalMode,
+            EmPlanningScope.RollingHorizon);
     }
 }

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -901,7 +901,7 @@ internal static class TrajectoryObservationChecks
     {
         var metadata = new EmTrajectoryMetadata("observer-published", effectiveAt, effectiveAt, 1L,
             "observer-reference", 1L, string.Empty, 0, TravelDirection.Forward, terminalType,
-            EmLongitudinalMode.RollingContinuation);
+            EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(0.25d, 0.10d, 0d, 0.20d, 0d, 0d, 0, 0.25d, 4d,
@@ -944,7 +944,7 @@ internal static class TrajectoryObservationChecks
             "active-segment-reference", 1L, string.Empty, segmentIndex, direction, terminalType,
             terminalType == EmTerminalType.GearSwitch
                 ? EmLongitudinalMode.ExactStopAtBoundary
-                : EmLongitudinalMode.RollingContinuation);
+                : EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(x, 0d, 0d, 0d, 0d, 0d, segmentIndex, 1d, 1d,

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSegmentChecks.cs

@@ -189,7 +189,7 @@ internal static class TrajectoryObservationSegmentChecks
     {
         var metadata = new EmTrajectoryMetadata("gear-terminal-" + effectiveAtUtc.Ticks, effectiveAtUtc,
             effectiveAtUtc, 1L, "segment-check", 1L, string.Empty, 0, direction, terminalType,
-            EmLongitudinalMode.ExactStopAtBoundary);
+            EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
         return new EmTrajectory(metadata, new[]
         {
             new EmTrajectoryPoint(1d, 0d, 0d, 0d, finalTimeFromStart, 0d, 0, 1d, 1d,

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationVisualizationChecks.cs

@@ -470,7 +470,7 @@ internal static class TrajectoryObservationVisualizationChecks
                 0.2d + t, 0.3d + t));
         }
         return new EmTrajectory(new EmTrajectoryMetadata(id, effectiveAt, effectiveAt, 1L, "visualization-reference", 1L,
-            string.Empty, 0, direction, terminal, mode), points);
+            string.Empty, 0, direction, terminal, mode, EmPlanningScope.RollingHorizon), points);
     }
 
     private sealed class FixedPlanningService : IEmPlanningService