Add goal-conditioned replay particle IMM filter

[FlorianPfaff]

Summary

• Adds GoalConditionedReplayParticleIMMFilter, a goal-conditioned replay particle filter with one discrete IMM-style motion mode per particle.
• Supports stationary, diffusion, momentum, goal-directed, and jump dynamics selected by a Markov mode transition matrix.
• Keeps mode indices coupled to continuous particles during likelihood resampling and exposes mode posterior summaries.
• Exports the filter from pyrecest.filters and adds focused tests for dynamics, mode transitions, resampling, and association likelihoods.

Validation

• PYTHONPATH=src python -m pytest tests\filters\test_goal_conditioned_replay_particle_imm_filter.py tests\filters\test_goal_conditioned_replay_particle_filter.py tests\filters\test_goal_conditioned_replay_imm_filter.py -q
• PYTHONPATH=src python -m pytest tests\filters -q (354 passed, warnings only)
• python -m ruff check src\pyrecest\filters\goal_conditioned_replay_particle_imm_filter.py tests\filters\test_goal_conditioned_replay_particle_imm_filter.py
• python -m compileall -q src tests\filters\test_goal_conditioned_replay_particle_imm_filter.py

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
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✅ JSON	prettier	2	0	0	0	0.41s
✅ JSON	v8r	2		0	0	2.36s
✅ MARKDOWN	markdownlint	21	0	0	0	1.01s
✅ MARKDOWN	markdown-table-formatter	21	0	0	0	0.26s
✅ PYTHON	bandit	445		0	0	6.12s
✅ PYTHON	black	445	1	0	0	10.26s
✅ PYTHON	flake8	445		0	0	3.58s
✅ PYTHON	isort	445	1	0	0	0.68s
✅ PYTHON	mypy	445		0	0	5.12s
✅ PYTHON	pylint	445		0	0	127.32s
✅ PYTHON	ruff	445	1	0	0	0.07s
✅ REPOSITORY	checkov	yes		no	no	20.15s
✅ REPOSITORY	gitleaks	yes		no	no	9.82s
✅ REPOSITORY	git_diff	yes		no	no	0.04s
✅ REPOSITORY	secretlint	yes		no	no	7.72s
✅ REPOSITORY	syft	yes		no	no	3.61s
✅ REPOSITORY	trivy-sbom	yes		no	no	4.57s
✅ REPOSITORY	trufflehog	yes		no	no	18.97s
✅ YAML	prettier	5	0	0	0	0.43s
✅ YAML	v8r	5		0	0	4.36s
✅ YAML	yamllint	5		0	0	0.36s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   4h 28m 40s ⏱️ + 3m 34s
 1 266 tests + 4   1 266 ✅ + 4      0 💤 ± 0  0 ❌ ±0 
15 556 runs  +48  12 004 ✅ +32  3 552 💤 +16  0 ❌ ±0 

Results for commit 3e8ce12. ± Comparison against base commit b408385.

♻️ This comment has been updated with latest results.