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Minimum-time quantum control protocols can be obtained from the quantum brachistochrone formalism [Carlini, Hosoya, Koike, and Okudaira, Phys. Rev. Lett. 96, 06053, (2006)]. We point out that the original treatment implicitly applied the variational calculus with fixed boundary conditions. We argue that the genuine quantum brachistochrone problem involves a variational problem with a movable endpoint, contrary to the classical brachistochrone problem. This formulation not only simplifies the derivation of the quantum brachistochrone equation but introduces an additional constraint at the endpoint due to the boundary effect. We present the general solution to the full quantum brachistochrone equation and discuss its main features. Using it, we prove that the speed of evolution under constraints is reduced with respect to the unrestricted case. In addition, we find that solving the quantum brachistochrone equation is closely connected to solving the dynamics of the Lagrange multipliers, which is in general governed by nonlinear differential equations. Their numerical integration allows generating time-extremal trajectories. Furthermore, when the restricted operators form a closed subalgebra, the Lagrange multipliers become constant and the optimal Hamiltonian takes a concise form. The new class of analytically solvable models for the quantum brachistochrone problem opens up the possibility of applying it to many-body quantum systems, exploring notions related to geometry such as quantum speed limits, and advancing significantly the quantum state and gate preparation for quantum information processing.