[AZ-384] C5 marginals + current_estimate/smoothed_history/health_snapshot

Replaces the last three NotImplementedError placeholders on
GtsamIsam2StateEstimator with real Marginals + output methods:

- current_estimate(): recovers the 6x6 Marginals covariance for the
  most-recently committed pose key, enforces the SPD invariant via
  np.linalg.cholesky (Invariant 10), converts the local-ENU pose
  translation to WGS84 via the shared WgsConverter, derives a
  body->world quaternion, and emits a fresh EstimatorOutput
  (smoothed=False, Invariant 4). On SPD failure transitions
  isam2_state -> LOST and raises EstimatorFatalError (AC-5.2 path).
- smoothed_history(n): iterates the smoother's active POSE keys via
  _smoother.calculateEstimate().keys() (filtered by GTSAM symbol
  char) and the smoother timestamps via ts_map.at(key) - workaround
  for the pinned gtsam_unstable build's non-iterable
  FixedLagSmootherKeyTimestampMap. Bounded by K (Invariant 6); every
  entry has smoothed=True (Invariant 7).
- health_snapshot(): cheap O(1) accumulator read; reports
  IsamState lifecycle, pose-key count, AC-NEW-8
  cov_norm_growing_for_s rolling 60s deque-backed counter, and
  spoof_promotion_blocked via the AZ-385 state machine injection
  point.

Adds two public injection points for AZ-385/composition root:
set_enu_origin(LatLonAlt) and attach_source_label_state_machine(machine).
Defaults: (0, 0, 0) ENU origin, VISUAL_PROPAGATED source label,
spoof_promotion_blocked=False.

Wires _record_committed_pose_key into the three add_* success paths
so current_estimate only reads keys that have real values in iSAM2.
The JACOBIAN path in add_pose_anchor deliberately skips this call -
Invariant 3 keeps the JACOBIAN pose out of the iSAM2 graph.

Tests: +27 in tests/unit/c5_state/test_az384_marginals_outputs.py
covering all 10 ACs. Three obsolete AZ-382 tests
(test_ac10_*_raises_named_az384) removed. Full suite: 589 passed,
2 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>

tests/unit/c5_state/test_az382_isam2_smoother_wiring.py

@@ -368,33 +368,14 @@ def test_ac9_update_emits_success_log(caplog: pytest.LogCaptureFixture) -> None:
 
 
 # ---------------------------------------------------------------------
-# AC-10: StateEstimator Protocol methods still raise NotImplementedError
+# AC-10 NOTE: All six ``StateEstimator`` Protocol methods originally
+# raised ``NotImplementedError`` in AZ-382's scope. They have all
+# landed:
 #
-# Note: The three ``add_*`` methods USED to raise ``NotImplementedError``
-# naming AZ-383 in AZ-382's scope. AZ-383 has since landed and replaced
-# those bodies with real factor adds; the now-active behaviour is
-# tested in ``tests/unit/c5_state/test_az383_factor_adds.py``. Only the
-# three output methods (``current_estimate`` / ``smoothed_history`` /
-# ``health_snapshot``) still raise NotImplementedError pointing at the
-# next-task AZ-384.
-
-
-def test_ac10_current_estimate_raises_named_az384() -> None:
-    estimator = _build_estimator()
-    with pytest.raises(NotImplementedError, match="AZ-384"):
-        estimator.current_estimate()
-
-
-def test_ac10_smoothed_history_raises_named_az384() -> None:
-    estimator = _build_estimator()
-    with pytest.raises(NotImplementedError, match="AZ-384"):
-        estimator.smoothed_history(n_keyframes=5)
-
-
-def test_ac10_health_snapshot_raises_named_az384() -> None:
-    estimator = _build_estimator()
-    with pytest.raises(NotImplementedError, match="AZ-384"):
-        estimator.health_snapshot()
+# - ``add_vio`` / ``add_pose_anchor`` / ``add_fc_imu`` → tested in
+#   ``tests/unit/c5_state/test_az383_factor_adds.py``.
+# - ``current_estimate`` / ``smoothed_history`` / ``health_snapshot``
+#   → tested in ``tests/unit/c5_state/test_az384_marginals_outputs.py``.
 
 
 # ---------------------------------------------------------------------