S3: SDK on Drawing 2.0 (Frame3; Pose3 wire-only) (epic-129)

.github/scripts/grep-gate.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+# Grep gate (epic-129 test-scenarios TS-129-48). Each row is: id <TAB> extended regex <TAB> pathspecs.
+# A row passes when `git grep -nE` finds 0 lines. Add a row per slice as the G-rows are switched on.
+# Same shape as drawing's .github/scripts/grep-gate.sh.
+set -uo pipefail
+cd "$(git rev-parse --show-toplevel)"
+
+ROWS=(
+  # G-18 (S3): the Pose3 maths members are deleted in Drawing 2.0; Frame3.Interpolate/Distance/FromSurface replace them.
+  $'G-18\t\\bPose3(d|<[^>]*>)?\\.(Lerp|Distance|FromSurface)\\b\tcsharp/'
+  # G-18a (S3, epic-129 test-scenarios numbering): no Euler rotation algebra on Rotation3 and no direction → Euler shortcut
+  # (Rotation3.Combine/Slerp and Vector3.RotationTo are deleted; use Quaternion.Slerp / Quaternion.FromTo).
+  $'G-18a\t\\bRotation3(d|<[^>]*>)?\\.(Combine|Slerp|Inverse|Rotate|ToMatrix3x3)\\b|\\bRotationTo\\s*\\(\tcsharp/'
+)
+
+failed=0
+for row in "${ROWS[@]}"; do
+  IFS=$'\t' read -r id pattern paths <<<"$row"
+  # shellcheck disable=SC2086  # pathspecs are space-separated on purpose
+  hits=$(git grep -nE "$pattern" -- $paths)
+  count=$(printf '%s' "$hits" | grep -c . || true)
+  echo "$id: $count line(s)  [git grep -nE '$pattern' -- $paths]"
+  if [ "$count" -ne 0 ]; then
+    printf '%s\n' "$hits"
+    echo "::error::grep gate $id found $count line(s)"
+    failed=1
+  fi
+done
+exit $failed

.github/workflows/test.yml

@@ -11,15 +11,28 @@ on:
     paths:
       - 'csharp/**'
       - '.github/workflows/test.yml'
+      - '.github/scripts/grep-gate.sh'
   pull_request:
     paths:
       - 'csharp/**'
       - '.github/workflows/test.yml'
+      - '.github/scripts/grep-gate.sh'
 
 permissions:
   contents: read
 
 jobs:
+  grep-gate:
+    # epic-129 TS-129-48: deleted names cannot come back. One row per G-row switched on; a row fails on any line.
+    name: grep-gate
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Grep gate
+        run: .github/scripts/grep-gate.sh
+
   csharp:
     name: C# tests
     runs-on: ubuntu-latest

csharp/Directory.Build.props

@@ -26,7 +26,7 @@
     <!-- Fallback version for any build that does NOT pass /p:Version (local dev, source/project
          references). Keep this >= every published release and every consumer's compiled reference
          so roll-forward always succeeds. Bump on each release alongside the git tag. -->
-    <Version Condition="'$(Version)' == ''">3.2.0</Version>
+    <Version Condition="'$(Version)' == ''">3.3.0</Version>
 
     <!-- AssemblyVersion / FileVersion track the package Version (strip any prerelease suffix such
          as -preview1; AssemblyVersion must be purely numeric). The CLR pads a 3-part value to

csharp/RocketWelder.SDK.AdaptivePoints/RocketWelder.SDK.AdaptivePoints.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
   </ItemGroup>
 
   <ItemGroup>

csharp/RocketWelder.SDK.Automation.Tests/CameraProjectorTryProjectToPixelTests.cs

@@ -130,7 +130,7 @@ public void NonIdentityPoseChain_MatchesHandComputedGroundTruth()
         // Independent ground truth: pick a point Q in the camera frame, map it into base
         // frame with the SAME composition the projector uses, then assert the projector
         // recovers the pinhole pixel of Q.
-        var cameraToBase = gripper * handEye;
+        var cameraToBase = Frame3<double>.FromPose3(gripper, 1.0) * Frame3<double>.FromPose3(handEye, 1.0);
         var qCamera = new Point3d(12, -7, 250);
         var basePoint = cameraToBase.TransformPoint(qCamera);
 
@@ -149,7 +149,7 @@ public void NonIdentityPoseChain_PointBehindCamera_ReturnsFalse()
         var handEye = new Pose3d(5, -3, 50, 0, 0, 90);
         var p = Projector(intr, handEye, gripper);
 
-        var cameraToBase = gripper * handEye;
+        var cameraToBase = Frame3<double>.FromPose3(gripper, 1.0) * Frame3<double>.FromPose3(handEye, 1.0);
         var behind = cameraToBase.TransformPoint(new Point3d(0, 0, -50));
 
         var ok = p.TryProjectToPixel(behind, out var pixel);

csharp/RocketWelder.SDK.Devices.Camera/RocketWelder.SDK.Devices.Camera.csproj

@@ -18,7 +18,7 @@
 
   <ItemGroup>
     <PackageReference Include="Emgu.CV" Version="4.11.0.5746" />
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <PackageReference Include="ModelingEvolution.Mjpeg" Version="1.4.0" />
   </ItemGroup>
 

csharp/RocketWelder.SDK.Devices.DistanceSensor/IDistanceSensorViewLocator.cs

@@ -23,15 +23,15 @@ public interface IDistanceSensorViewLocator
     /// <para>
     /// To sample multiple points on the same plane (e.g. the auto-probe's center +
     /// along-travel + perpendicular triple per FR-3.1), the caller composes translated
-    /// planes via <c>plane + Vector3</c> rather than passing a separate offset argument.
+    /// planes via <c>plane with { Position = plane.Position + offset }</c> rather than passing a separate offset argument.
     /// </para>
     /// <para>
     /// <b>Roll-about-beam.</b> Aiming the beam pins two rotational degrees of freedom
     /// (azimuth + elevation); the third — roll about the beam axis — is determined by
     /// the implementation's chosen orthonormal-frame convention. Two calls with planes
     /// that differ only by translation may produce TCP poses with the same azimuth /
     /// elevation but different rolls if the impl uses a non-deterministic rotation
-    /// selector (e.g. <c>Vector3.RotationTo</c>'s shortest-arc rotation, which is
+    /// selector (e.g. <c>Quaternion.FromTo</c>'s shortest-arc rotation, which is
     /// geometrically valid but depends on the starting axis). Implementations that need
     /// stable roll across multi-sample probing (FR-3.1) must pin a third axis explicitly
     /// — see the camera-side precedent in rocket-welder2

csharp/RocketWelder.SDK.Devices.DistanceSensor/RocketWelder.SDK.Devices.DistanceSensor.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
   </ItemGroup>
 
   <ItemGroup>

csharp/RocketWelder.SDK.Devices.Motion/RocketWelder.SDK.Devices.Motion.csproj

@@ -19,7 +19,7 @@
        regression; RocketWelder.SDK.Devices.Motion.Tests/TransportDependencyTests fails the Tests
        workflow (.github/workflows/test.yml) if it happens. -->
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.13.0.71" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
   </ItemGroup>
 
   <ItemGroup>

csharp/RocketWelder.SDK.Devices.Robot/RobotMotionExtensions.cs

@@ -91,12 +91,17 @@ private static (Pose3<double> Entry, Pose3<double> Via, Pose3<double> Exit)? Com
         var centre = vertex.Position + (radiusMm / Math.Sin(halfAngle)) * bisector;
         var via = centre - radiusMm * bisector;
 
-        var entryRotation = Rotation3<double>.Slerp(prev.Rotation, vertex.Rotation, (edgeIn - setback) / edgeIn);
-        var exitRotation = Rotation3<double>.Slerp(vertex.Rotation, next.Rotation, setback / edgeOut);
-        var viaRotation = Rotation3<double>.Slerp(entryRotation, exitRotation, 0.5);
+        // Rotation maths on quaternions (epic-129 design rule 2); Rotation3 is the wire format, converted once
+        // in and once out.
+        var qPrev = prev.Rotation.ToQuaternion();
+        var qVertex = vertex.Rotation.ToQuaternion();
+        var qNext = next.Rotation.ToQuaternion();
+        var entryRotation = Quaternion<double>.Slerp(qPrev, qVertex, (edgeIn - setback) / edgeIn);
+        var exitRotation = Quaternion<double>.Slerp(qVertex, qNext, setback / edgeOut);
+        var viaRotation = Quaternion<double>.Slerp(entryRotation, exitRotation, 0.5);
 
-        return (new Pose3<double>(entryTangent, entryRotation),
-                new Pose3<double>(via, viaRotation),
-                new Pose3<double>(exitTangent, exitRotation));
+        return (new Pose3<double>(entryTangent, Rotation3<double>.FromQuaternion(entryRotation)),
+                new Pose3<double>(via, Rotation3<double>.FromQuaternion(viaRotation)),
+                new Pose3<double>(exitTangent, Rotation3<double>.FromQuaternion(exitRotation)));
     }
 }

csharp/RocketWelder.SDK.Devices.Robot/RocketWelder.SDK.Devices.Robot.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <PackageReference Include="ModelingEvolution.JsonParsableConverter" Version="1.0.1" />
   </ItemGroup>
 

csharp/RocketWelder.SDK.Devices.Welding/RocketWelder.SDK.Devices.Welding.csproj

@@ -19,7 +19,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <PackageReference Include="ModelingEvolution.Signals" Version="2.0.1.1" />
   </ItemGroup>
 

csharp/RocketWelder.SDK.Hmi/RocketWelder.SDK.Hmi.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <PackageReference Include="BlazorBlaze" Version="1.1.5" />
     <PackageReference Include="BlazorBlaze.Server" Version="1.1.5" />
   </ItemGroup>

csharp/RocketWelder.SDK.Localization/RocketWelder.SDK.Localization.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <ProjectReference Include="..\RocketWelder.SDK.Vision\RocketWelder.SDK.Vision.csproj" />
   </ItemGroup>
 

csharp/RocketWelder.SDK.Operations.Welding/RocketWelder.SDK.Operations.Welding.csproj

@@ -16,7 +16,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <PackageReference Include="ModelingEvolution.JsonParsableConverter" Version="1.0.1" />
   </ItemGroup>
 

csharp/RocketWelder.SDK.Runtime/RocketWelder.SDK.Runtime.csproj

@@ -17,7 +17,7 @@
 
   <ItemGroup>
     <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="10.0.7" />
-    <PackageReference Include="ModelingEvolution.Drawing" Version="1.9.8.75" />
+    <PackageReference Include="ModelingEvolution.Drawing" Version="2.0.0.72" />
     <!-- Epic 091: IProgramContext.Signal hands programs a WritableSignal<float>. Same version the device
          packages (Devices.Welding, Devices.Motion) already carry; the host lists this assembly among its
          shared-prefix (off-TPA) assemblies, so the type is identical on both sides of a program's ALC. -->