[codex] Fix hypertoroidal nonadditive particle prediction

[FlorianPfaff]

Summary

Fix HypertoroidalParticleFilter.predict_nonlinear_nonadditive so it reuses the base particle-filter nonadditive prediction logic and then wraps particles back onto the torus with mod(..., 2*pi).

This avoids treating filter_state as if it were a raw particle array. filter_state is a HypertoroidalDiracDistribution; the raw particles live in filter_state.d.

Root Cause

The hypertoroidal override used self.filter_state.shape, zeros_like(self.filter_state), and self.filter_state[i, :], which are array operations on a distribution object. Its input validation also compared the full samples.shape tuple to weights.size, rejecting valid (n_samples, dim) noise samples.

Tests

Added a regression test in tests/filters/test_hypertoroidal_particle_filter.py that calls predict_nonlinear_nonadditive, checks the particle shape is preserved, and verifies the resulting angular particles remain in [0, 2*pi).

Not run locally because this Codex workspace is read-only and the change was applied through the GitHub connector. The repository's PR CI should run the backend matrix.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	18.3s
✅ JSON	prettier	2	0	0	0	0.46s
✅ JSON	v8r	2		0	0	2.55s
✅ MARKDOWN	markdownlint	2	0	0	0	0.78s
✅ MARKDOWN	markdown-table-formatter	2	0	0	0	0.32s
✅ PYTHON	bandit	382		0	0	5.79s
✅ PYTHON	black	382	1	0	0	8.74s
✅ PYTHON	flake8	382		0	0	3.27s
✅ PYTHON	isort	382	2	0	0	0.73s
✅ PYTHON	mypy	382		0	0	5.22s
✅ PYTHON	pylint	382		0	0	117.64s
✅ PYTHON	ruff	382	2	0	0	0.07s
✅ REPOSITORY	checkov	yes		no	no	23.3s
✅ REPOSITORY	gitleaks	yes		no	no	10.87s
✅ REPOSITORY	git_diff	yes		no	no	0.02s
✅ REPOSITORY	secretlint	yes		no	no	6.67s
✅ REPOSITORY	syft	yes		no	no	3.19s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.22s
✅ REPOSITORY	trufflehog	yes		no	no	21.41s
✅ YAML	prettier	4	0	0	0	0.48s
✅ YAML	v8r	4		0	0	5.19s
✅ YAML	yamllint	4		0	0	0.49s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   4h 41m 44s ⏱️ - 5m 16s
 1 091 tests + 1   1 091 ✅ +1      0 💤 ±0  0 ❌ ±0 
13 376 runs  +12  10 280 ✅ +8  3 096 💤 +4  0 ❌ ±0 

Results for commit cde6b43. ± Comparison against base commit f344bab.