 Oleksandr Bezdieniezhnykh
|
db27e25630
|
[AZ-355] C4 PoseEstimator Protocol + factory + DTOs + composition
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>
|
2026-05-11 10:32:14 +03:00 |
|