Add log-likelihood updates for SO3 particle filters

[FlorianPfaff]

Summary

• add regression coverage for SO3ProductParticleFilter.update_with_log_likelihood(...), including equivalence to positive-likelihood updates and an underflow-safe case
• fix SO(3) scalar geodesic-distance handling so scalar quaternion pairs return a scalar-compatible value
• normalize SO(3) grid-transition densities through the same hemisphere quadrature integral used by the grid-distribution checks

CI notes

This branch fixes the concrete failures observed in the previous CI run:

• tests/filters/test_relaxed_s3f_so3.py::RelaxedS3FSO3Test::test_quaternion_rotation_and_distance_helpers
• tests/filters/test_so3_grid_transition.py::TestSO3GridTransition::test_returns_normalized_conditional_density

Latest checks have been triggered and are still running on GitHub Actions.

[github-actions]

Test Results

0 tests  ±0   0 ✅ ±0   0s ⏱️ ±0s
0 suites ±0   0 💤 ±0 
0 files   ±0   0 ❌ ±0 

Results for commit 536ba45. ± Comparison against base commit 2154731.

♻️ This comment has been updated with latest results.

[github-actions]

❌MegaLinter analysis: Error

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	15.67s
✅ JSON	prettier	2	0	0	0	0.48s
✅ JSON	v8r	2		0	0	2.76s
✅ MARKDOWN	markdownlint	28	0	0	0	1.25s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.3s
✅ PYTHON	bandit	505		0	0	7.3s
✅ PYTHON	black	505	8	0	0	11.48s
✅ PYTHON	flake8	505		0	0	3.99s
✅ PYTHON	isort	505	9	0	0	0.88s
✅ PYTHON	mypy	505		0	0	5.82s
❌ PYTHON	pylint	505		8	0	106.63s
✅ PYTHON	ruff	505	9	0	0	0.09s
✅ REPOSITORY	checkov	yes		no	no	21.11s
✅ REPOSITORY	gitleaks	yes		no	no	11.89s
✅ REPOSITORY	git_diff	yes		no	no	0.09s
✅ REPOSITORY	secretlint	yes		no	no	8.77s
✅ REPOSITORY	syft	yes		no	no	3.32s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.46s
✅ REPOSITORY	trufflehog	yes		no	no	19.82s
✅ YAML	prettier	5	0	0	0	0.5s
✅ YAML	v8r	5		0	0	5.47s
✅ YAML	yamllint	5		0	0	0.5s

Detailed Issues

❌ PYTHON / pylint - 8 errors

************* Module pyrecest.filters._linear_gaussian
src/pyrecest/filters/_linear_gaussian.py:47:27: W0621: Redefining name 'normalized_innovation_squared' from outer scope (line 31) (redefined-outer-name)
src/pyrecest/filters/_linear_gaussian.py:72:4: W0621: Redefining name 'normalized_innovation_squared' from outer scope (line 31) (redefined-outer-name)
************* Module pyrecest.filters.relaxed_s3f_so3
src/pyrecest/filters/relaxed_s3f_so3.py:49:0: R0902: Too many instance attributes (8/7) (too-many-instance-attributes)
************* Module pyrecest.utils.track_evaluation
src/pyrecest/utils/track_evaluation.py:393:0: R0917: Too many positional arguments (8/5) (too-many-positional-arguments)
************* Module tests.filters.test_relaxed_s3f_so3
tests/filters/test_relaxed_s3f_so3.py:46:21: E1120: No value for argument 'grid_values' in function call (no-value-for-parameter)
tests/filters/test_relaxed_s3f_so3.py:46:21: E1120: No value for argument 'body_increment_values' in function call (no-value-for-parameter)
tests/filters/test_relaxed_s3f_so3.py:46:21: E1120: No value for argument 'cell_sample_count' in function call (no-value-for-parameter)
tests/filters/test_relaxed_s3f_so3.py:46:21: E1120: No value for argument 'method' in function call (no-value-for-parameter)

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