Add configurable particle resampling

[FlorianPfaff]

Summary

• Adds a configurable resampling_criterion to AbstractParticleFilter.
• Preserves the historical behavior by treating None as "always resample after update".
• Adds public resample(), should_resample(), resample_if_needed(), and set_resampling_criterion(...) helpers.
• Switches the generic likelihood update path from unconditional post-update resampling to criterion-driven resampling.
• Adds Euclidean particle-filter regression tests for skipped automatic resampling and manual resampling.

Notes

The main generic particle-filter update path now supports weighted posteriors after updates when users set, for example, pf.set_resampling_criterion(lambda state: False). Manual resampling remains available via pf.resample().

Validation

• Not run locally in this environment; CI should exercise the changed tests.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	16.08s
✅ JSON	prettier	2	0	0	0	0.64s
✅ JSON	v8r	2		0	0	3.06s
✅ MARKDOWN	markdownlint	28	0	0	0	1.1s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.24s
✅ PYTHON	bandit	488		0	0	6.72s
✅ PYTHON	black	488	1	0	0	11.24s
✅ PYTHON	flake8	488		0	0	3.93s
✅ PYTHON	isort	488	1	0	0	0.76s
✅ PYTHON	mypy	488		0	0	5.23s
✅ PYTHON	pylint	488		0	0	96.16s
✅ PYTHON	ruff	488	1	0	0	0.08s
✅ REPOSITORY	checkov	yes		no	no	18.02s
✅ REPOSITORY	gitleaks	yes		no	no	11.64s
✅ REPOSITORY	git_diff	yes		no	no	0.06s
✅ REPOSITORY	secretlint	yes		no	no	8.79s
✅ REPOSITORY	syft	yes		no	no	3.17s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.4s
✅ REPOSITORY	trufflehog	yes		no	no	19.3s
✅ YAML	prettier	5	0	0	0	0.45s
✅ YAML	v8r	5		0	0	5.76s
✅ YAML	yamllint	5		0	0	0.38s

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