feat(modeling): add SerialManipulatorSimulatorFriendly under marinholab::sas::core::modeling

[mmmarinho]

Summary

Adds SerialManipulatorSimulatorFriendly to the marinholab_sas_core library under the new namespace marinholab::sas::core::modeling.

This is the C++ half of migrating M3_SerialManipulatorSimulatorFriendly out of sas_robot_driver_gazebo (where it lived in namespace DQ_robotics). The class name drops the M3_ prefix, per the plan.

What changed

• New include/marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp — namespace marinholab::sas::core::modeling, class SerialManipulatorSimulatorFriendly : public DQ_SerialManipulator.
• New src/serial_manipulator_simulator_friendly.cpp — ported from sas_robot_driver_gazebo src/M3_SerialManipulatorSimulatorFriendly.cpp.
• CMakeLists.txt — added the new source to the marinholab_sas_core library.

Namespace adaptation

The original code was written inside namespace DQ_robotics, so dqrobotics' types and free functions (DQ, E_, Ad, vec8, hamiplus8, C8, …) were in scope for free. In the new namespace they're not, so:

• the header pulls in the three types used in signatures (DQ, DQ_SerialManipulator, DQ_JointType) via scoped using-declarations;
• the .cpp pulls in the free functions/constants it uses.

(Eigen types like MatrixXd/VectorXd need no using — the dqrobotics headers inject them into the global namespace. conj is resolved by ADL.)

Verification

Built locally on macOS against dqrobotics-from-source + Eigen, matching the macos-build.yml workflow:

• Full marinholab_sas_core library + all examples compile; the new .cpp has zero warnings (-Wall -Wextra -Wpedantic).
• All five example executables run clean.
• Behavioral smoke test: for a 3-joint RX/RY/RZ model, raw_pose_jacobian agrees with the finite-difference derivative of raw_fkm to 4.6e-11, and default joint limits are ±10 rad. Confirms the migration is behaviorally identical, not just syntactic.

Notes / follow-ups

• No new build dependency — dqrobotics is already a hard dependency of marinholab_sas_core.
• This unblocks the next steps: the sas_py pybind11 bindings (bump submodules/sas_cpp to this commit) and the working-needlemanipulation rework to depend on marinholab-sas-core.
• The sas_robot_driver_gazebo consumer switch is still blocked on D4 (how the apt sas_core package will ship the modeling header).

This PR was created by an AI agent (OpenHands) on behalf of @murilomarinho.

Co-authored-by: openhands openhands@all-hands.dev

[mmmarinho]

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