 Oleksandr Bezdieniezhnykh
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8b394a98c6
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[AZ-382] C5 GtsamIsam2StateEstimator skeleton + real iSAM2 handle bodies
- Add GtsamIsam2StateEstimator owning the GTSAM substrate:
gtsam.ISAM2(ISAM2Params()) + gtsam_unstable.IncrementalFixedLagSmoother
(K * 1/3 s window per D-C5-3) + NonlinearFactorGraph + Values.
- Module-level create(...) factory + register() helper for
register_state_estimator("gtsam_isam2", create). Opt-in registration
per ADR-002 — no auto-import.
- Key-management policy: key_for_frame(UUID) -> int via
gtsam.symbol('x', counter); idempotent re-lookup.
- Replace all four NotImplementedError bodies in _isam2_handle.py with
real GTSAM calls:
* add_factor → estimator._graph.add(factor); R05 defensive logging
on success/failure; EstimatorDegradedError on failure.
* update → _isam2.update + _smoother.update; empty
FixedLagSmootherKeyTimestampMap substituted for timestamps=None;
EstimatorFatalError on either failure.
* compute_marginals → gtsam.Marginals(getFactorsUnsafe(),
calculateEstimate()).
* last_anchor_age_ms → (monotonic_ns - _last_anchor_ns) // 1e6.
- StateEstimator Protocol methods on the estimator still raise
NotImplementedError naming AZ-383 (factor adds) / AZ-384
(marginals + outputs).
- AZ-382 AC tests: 27 cases covering 10/10 ACs + factory integration.
- AZ-381 test_ac8_handle_methods_raise_named_task removed (obsolete:
bodies are real now); test_ac8_handle_is_isam2_graph_handle retained.
- Full suite: 547 passed (+26 vs B12), 2 skipped.
- Impl report: _docs/03_implementation/batch_13_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 05:51:23 +03:00 |
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Oleksandr Bezdieniezhnykh
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beed43724f
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[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape
- Add StateEstimator Protocol (6 methods, @runtime_checkable) + DTOs
(EstimatorOutput, EstimatorHealth, IsamState, PoseSourceLabel, Quat)
in _types/state.py per state_estimator_protocol.md v1.0.0.
- Add C5 error hierarchy (StateEstimatorError + 3 subclasses) and
C5StateConfig (strategy, keyframe_window, spoof gates,
no_estimate_fallback_s) with __post_init__ validation.
- Add ISam2GraphHandle Protocol + ISam2GraphHandleImpl skeleton (all
4 methods raise NotImplementedError naming AZ-382 as owner).
- Add build_state_estimator factory + bind_state_ingest_thread for
single-writer enforcement; ADR-002 build-flag gating
(BUILD_STATE_<variant>); INFO log on success.
- Strict reshape of legacy EstimatorOutput / EstimatorHealth across
all 6 C8 production files (_outbound_provenance,
_covariance_projector, pymavlink_ardupilot_adapter,
msp2_inav_adapter, mavlink_gcs_adapter, interface) + 6 C8 test
files (UUID frame_id, LatLonAlt position_wgs84, Quat orientation,
PoseSourceLabel enum source_label). Remove ad-hoc DTOs from
_types/pose.py and from C4's public __init__ (EstimatorOutput is a
C5 concept, not a C4 one).
- 20 AZ-381 AC tests (10 ACs + 4 config range + NFR + conformance).
- Full suite: 521 passed, 2 skipped (+20 vs Batch 11).
- Contracts: state_estimator_protocol.md v1.0.0 -> active;
composition_root_protocol.md v1.2.0 -> v1.3.0 (additive state
block + factory + ingest-thread binding).
- Impl report: _docs/03_implementation/batch_12_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 05:35:20 +03:00 |
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