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[AZ-355] C4 PoseEstimator Protocol + factory + DTOs + composition

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Land the foundational C4 surface AZ-358 (Marginals) and AZ-361
(Hybrid) build on top of:

- PoseEstimator Protocol (@runtime_checkable): estimate(...) +
  current_covariance_mode().
- Error hierarchy: PoseEstimatorError, PnpFailureError,
  PoseEstimatorConfigError; CovarianceDegradedWarning as a Warning
  subclass (warnings.warn path, not raised).
- ISam2GraphHandle Protocol stub (READ-ONLY view, get_pose_key only)
  decoupled from C5's concrete ISam2GraphHandleImpl.
- C4PoseConfig (frozen dataclass) + register on c4_pose import.
- runtime_root/pose_factory.build_pose_estimator with lazy-import
  fallback; INFO log c4.pose.strategy_loaded; shares ingest-thread
  binding with C5 per ADR-003.

DTO restructuring (cross-cutting): retire the legacy raw-4x4
PoseEstimate(int frame_id, datetime timestamp, pose_se3, ...) and
ship the contract shape PoseEstimate(UUID, LatLonAlt, Quat,
np.ndarray, CovarianceMode, PoseSourceLabel,
last_satellite_anchor_age_ms, emitted_at). C5 add_pose_anchor in
both gtsam_isam2 + eskf_baseline migrated in lockstep via
WGS84->ENU + Quat->R helpers; test fixtures updated. VIO output
stays on the raw shape until AZ-331 (C1 protocol) lands.

LatLonAlt upgraded to slots=True per AC-2. ThermalState stub added
to _types/thermal.py so the Protocol typechecks pre-AZ-302.

Tests: 25 new in tests/unit/c4_pose/test_az355_pose_protocol.py
covering AC-1..AC-10 + factory wiring + config validation; full
repo: 685 passed, 2 pre-existing CI-only skips.

Jira transition deferred: MCP "Not connected"; leftover entry in
_docs/_process_leftovers/2026-05-11_jira_transition_az355_deferred.md.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 10:32:14 +03:00
parent c0bdb57957
commit db27e25630
19 changed files with 1407 additions and 52 deletions
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@@ -8,7 +8,7 @@ status: in_progress
sub_step:
phase: 6
name: implement-tasks
detail: "batch 19 of N committed (AZ-386 c5 ESKF mandatory simple-baseline: 16-state error-state KF NumPy impl + add_vio relative + add_pose_anchor absolute + Mahalanobis divergence gate AC-9 + source-label SM + AC-5.2 fallback auto-wired + smoothed=False history honesty (Invariant 7 deviation documented) + BUILD_STATE_ESKF flag wiring)"
detail: "batch 20 of N committed (AZ-355 c4 PoseEstimator Protocol + factory + DTOs + composition: new PoseEstimate shape (UUID + LatLonAlt + Quat + np.ndarray + CovarianceMode + PoseSourceLabel + emitted_at ns) + errors + ISam2GraphHandle stub + build_pose_estimator with lazy-import + C4PoseConfig; C5 consumers migrated in lockstep; legacy raw-4x4 pose_se3 shape retired)"
retry_count: 0
cycle: 1
tracker: jira