[codex] Add MEM-EKF tracker

[FlorianPfaff]

Summary

Adds a 2-D elliptic MEM-EKF tracker for target-originated extended-object measurements. The tracker keeps Gaussian kinematics and Gaussian shape parameters [orientation, semi_axis_1, semi_axis_2], supports linear prediction for both parts, and applies sequential moment-based measurement updates using the multiplicative error model.

The implementation uses pyrecest.backend math throughout and exports both MEMEKFTracker and the Python-style alias MemEkfTracker.

Tests

Added focused unit tests for initialization, alias export, orientation-aware extents, prediction, measurement updates, transposed measurement layout, empty updates, and contour generation.

Local execution was not available in this read-only workspace, so validation is via GitHub Actions for this PR.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	15.73s
✅ JSON	prettier	2	0	0	0	0.4s
✅ JSON	v8r	2		0	0	2.11s
✅ MARKDOWN	markdownlint	2	0	0	0	0.65s
✅ MARKDOWN	markdown-table-formatter	2	0	0	0	0.24s
✅ PYTHON	bandit	384		0	0	5.49s
✅ PYTHON	black	384	2	0	0	7.58s
✅ PYTHON	flake8	384		0	0	2.89s
✅ PYTHON	isort	384	2	0	0	0.71s
✅ PYTHON	mypy	384		0	0	4.73s
✅ PYTHON	pylint	384		0	0	113.81s
✅ PYTHON	ruff	384	2	0	0	0.07s
✅ REPOSITORY	checkov	yes		no	no	20.9s
✅ REPOSITORY	gitleaks	yes		no	no	10.02s
✅ REPOSITORY	git_diff	yes		no	no	0.06s
✅ REPOSITORY	secretlint	yes		no	no	7.33s
✅ REPOSITORY	syft	yes		no	no	3.04s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.09s
✅ REPOSITORY	trufflehog	yes		no	no	19.72s
✅ YAML	prettier	4	0	0	0	0.44s
✅ YAML	v8r	4		0	0	4.99s
✅ YAML	yamllint	4		0	0	0.38s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   4h 31m 51s ⏱️ - 15m 9s
 1 097 tests + 7   1 097 ✅ + 7      0 💤 ± 0  0 ❌ ±0 
13 448 runs  +84  10 300 ✅ +28  3 148 💤 +56  0 ❌ ±0 

Results for commit 2fc0427. ± Comparison against base commit f344bab.