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Oleksandr Bezdieniezhnykh
8b394a98c6
- 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>