Quoting Florian Zieboll (f.zieb...@web.de):

> I have a vague recollection, that there are printers and imagesetters,
> that are able to render PDF directly (never was involved in such a
> workflow myself) - but this is probably only true for equipment which
> does PostScript, of which PDF is a direct successor.

'Successor' is not quite the right description, IMO.  The key point is
that PDF (which, to be sure, was developed later) is bidirectionally
equivalent and semantically identical to PostScript.  You can convert a
.ps file to .pdf one and back, and not lose any substantive content in
either direction.  The primary physical difference is that the PDF
version will be stored compressed, while the PS version will not.

There is also a really important _legal_ difference.  Adobe was quite
aggressive in attempting to monetise PostScript for a long time, based
on the firm's legal control via patent holdings.  This is one reason why
the groundbreaking Apple LaserWriter printers suffered a apricing
premium, as did NeXT, Inc's lovely proprietary BSD variant NeXTStep,
because instead of X11, it used a graphical subsystem constructed using 
Display PostScript.  Both products were more expensive than they would
have been without PostScript because patent royalties were owed to Adobe
Systems for each unit sold.

Predictably, Adobe's patent-based monopoly eroded as others invented
alternatives, e.g., although Adobe's PostScript typefaces were the best
in the world (in which category I include leading PS typefaces from
other major foundries), increasingly the alternative TrueType technology
(whose modern descendant is OpenType) choices were good enough and then
competitive, along with some other advantages such as better-integrated
on-screen rendering and lower RAM overhead.  Adobe perceived that it had
priced itself too high, and risked PS becoming 'really good, but too
expensive hence irrelevant' like Apple's Firewire.  Wishing to not miss
the boat on a promising new subniche, print-like document formats, 
it made the _PDF_ variant of PS usable free of patent royalties in
perpetuity, so as to increase the format's attractiveness for adopters.

An ironic consequence of that market decision:  When the now-late Steve
Jobs returned to Apple, Inc. and arranged for his firm NeXT, Inc. to be
'acquired' by Apple (in form, albeit the substance was that NeXT, Inc. 
upper managers became Apple's new upper management, so one can say it
was really more like NeXT acquiring Apple), the chief product problem to
be solved was crafting a successor to legacy MacOS 9.x, which lacked
both memory protection and a real multitasking model and basically
needed to be junked and replaced.  Jobs had been 'hired' (permitted to
spearhaed a NeXT takeover of Apple) partly because NeXT still owned the
rights to NeXTStep, which with a figurative paint-job and mild dusting
was re-christened 'Macintosh OS X' (the 'X' not being pronounced 'ecks', 
but rather 'ten').

The crowning irony?  Apple[/NeXT] solved its Adobe royalties headache
through a small tweak:  The NeXTStep Display PostScript graphics system
was slightly updated (and dubbed 'Quartz' as a codename) to use Display
PDF, which is pretty nearly exactly the same thing, instead of Display
PostScript.  There are to my knowledge no technical advantages, but they
did this so that they would no longer (figuratively) need to cut a
royalty cheque to Adobe for each and every copy.

Without taking the time to investigate, my guesstimate is that Adobe's
patents on PostScript (v.1 and possibly also v.2) have now expired and
are no longer a burden.

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