Add SO3 distance helpers

[FlorianPfaff]

Summary

• add SO3DiracDistribution.chordal_distance for the SO(3) Frobenius chordal metric from scalar-last quaternions
• add instance helpers for chordal distances and weighted chordal error means
• extend SO(3) Dirac tests for geodesic/chordal distances, antipodal equivalence, batch inputs, and consistency with the matrix Frobenius metric

Validation

• python -m unittest tests.distributions.test_so3_dirac_distribution
• PYRECEST_BACKEND=numpy python -m pytest -q tests\distributions\test_so3_dirac_distribution.py
• PYRECEST_BACKEND=jax python -m pytest -q tests\distributions\test_so3_dirac_distribution.py
• PYRECEST_BACKEND=pytorch python -m pytest -q tests\distributions\test_so3_dirac_distribution.py
• python -m pytest -q tests\distributions\test_so3_dirac_distribution.py tests\smoothers\test_so3_chordal_mean_smoother.py
• python -m ruff check src\pyrecest\distributions\so3_dirac_distribution.py tests\distributions\test_so3_dirac_distribution.py
• python -m pylint src\pyrecest\distributions\so3_dirac_distribution.py tests\distributions\test_so3_dirac_distribution.py
• python -m mypy --ignore-missing-imports src\pyrecest\distributions\so3_dirac_distribution.py tests\distributions\test_so3_dirac_distribution.py

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
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✅ JSON	prettier	2	0	0	0	0.44s
✅ JSON	v8r	2		0	0	26.09s
✅ MARKDOWN	markdownlint	21	0	0	0	1.22s
✅ MARKDOWN	markdown-table-formatter	21	0	0	0	0.32s
✅ PYTHON	bandit	429		0	0	6.59s
✅ PYTHON	black	429	0	0	0	10.11s
✅ PYTHON	flake8	429		0	0	3.73s
✅ PYTHON	isort	429	2	0	0	0.82s
✅ PYTHON	mypy	429		0	0	5.81s
✅ PYTHON	pylint	429		0	0	129.24s
✅ PYTHON	ruff	429	2	0	0	0.08s
✅ REPOSITORY	checkov	yes		no	no	15.4s
✅ REPOSITORY	gitleaks	yes		no	no	8.51s
✅ REPOSITORY	git_diff	yes		no	no	0.04s
✅ REPOSITORY	secretlint	yes		no	no	4.48s
✅ REPOSITORY	syft	yes		no	no	3.13s
✅ REPOSITORY	trivy-sbom	yes		no	no	6.21s
✅ REPOSITORY	trufflehog	yes		no	no	18.76s
✅ YAML	prettier	5	0	0	0	0.49s
✅ YAML	v8r	5		0	0	27.34s
✅ YAML	yamllint	5		0	0	0.55s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   4h 41m 53s ⏱️ + 13m 35s
 1 219 tests + 2   1 219 ✅ + 2      0 💤 ±0  0 ❌ ±0 
14 992 runs  +24  11 456 ✅ +24  3 536 💤 ±0  0 ❌ ±0 

Results for commit ce1ba4c. ± Comparison against base commit 2207457.