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Oleksandr Bezdieniezhnykh
db27e25630
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>