Add mode RBPF manifold UKF tracker

[FlorianPfaff]

Summary

• Add ModeRBPFManifoldUKFTracker, a NumPy-backend extended-object tracker with mode particles and per-particle manifold UKF state updates.
• Export ModeRBPFManifoldUKFTracker, ModeRbpfManifoldUkfTracker, and ModeRBPFManifoldUKF from pyrecest.filters.
• Add focused tests for aliases, predict/update behavior, mode probabilities, positive axes, clone-style constructor compatibility, and empty updates.

Validation

• PYTHONPATH=src python -m pytest tests\filters\test_mode_rbpf_manifold_ukf_tracker.py tests\test_mem_rbpf_tracker.py tests\filters\test_iterated_batch_mem_qkf_tracker.py
• python -m ruff check src\pyrecest\filters\mode_rbpf_manifold_ukf_tracker.py src\pyrecest\filters\__init__.py tests\filters\test_mode_rbpf_manifold_ukf_tracker.py
• python -m ruff format --check src\pyrecest\filters\mode_rbpf_manifold_ukf_tracker.py src\pyrecest\filters\__init__.py tests\filters\test_mode_rbpf_manifold_ukf_tracker.py

[github-actions]

❌MegaLinter analysis: Error

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	21.66s
✅ JSON	prettier	2	0	0	0	0.38s
✅ JSON	v8r	2		0	0	2.51s
✅ MARKDOWN	markdownlint	28	0	0	0	1.21s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.29s
✅ PYTHON	bandit	549		0	0	7.91s
✅ PYTHON	black	549	6	0	0	14.2s
✅ PYTHON	flake8	549		0	0	4.74s
✅ PYTHON	isort	549	8	0	0	0.83s
❌ PYTHON	mypy	549		4	0	5.74s
✅ PYTHON	pylint	549		0	0	109.38s
✅ PYTHON	ruff	549	8	0	0	0.1s
✅ REPOSITORY	checkov	yes		no	no	24.56s
✅ REPOSITORY	gitleaks	yes		no	no	10.64s
✅ REPOSITORY	git_diff	yes		no	no	0.06s
✅ REPOSITORY	secretlint	yes		no	no	8.83s
✅ REPOSITORY	syft	yes		no	no	2.5s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.68s
✅ REPOSITORY	trufflehog	yes		no	no	21.63s
✅ YAML	prettier	5	0	0	0	0.41s
✅ YAML	v8r	5		0	0	5.38s
✅ YAML	yamllint	5		0	0	0.4s

Detailed Issues

❌ PYTHON / mypy - 4 errors

src/pyrecest/utils/history_recorder.py:34: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/distributions/so3_bingham_distribution.py:84: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/smoothers/unscented_rauch_tung_striebel_smoother.py:50: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:106: error: Argument 12 to "VelocityLockedMEMQKFTrackerState" has incompatible type "tuple[int, ...]"; expected "tuple[int, int]"  [arg-type]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:198: error: Incompatible return value type (got "tuple[int, ...]", expected "tuple[int, int]")  [return-value]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:386: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:387: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:468: error: "object" has no attribute "shape"  [attr-defined]
src/pyrecest/smoothers/fixed_lag_velocity_locked_mem_qkf_smoother.py:480: error: Need type annotation for "smoother_gains" (hint: "smoother_gains: list[<type>] = ...")  [var-annotated]
Found 4 errors in 1 file (checked 549 source files)

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

• Documentation: Custom Flavors
• Command: npx mega-linter-runner@9.4.0 --custom-flavor-setup --custom-flavor-linters PYTHON_PYLINT,PYTHON_BLACK,PYTHON_FLAKE8,PYTHON_ISORT,PYTHON_BANDIT,PYTHON_MYPY,PYTHON_RUFF,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_GITLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,REPOSITORY_TRUFFLEHOG,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

Show us your support by starring ⭐ the repository

[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   2h 14m 24s ⏱️ + 7m 20s
 1 614 tests + 6   1 614 ✅ + 6      0 💤 ± 0  0 ❌ ±0 
19 828 runs  +72  15 588 ✅ +24  4 240 💤 +48  0 ❌ ±0 

Results for commit 7e20812. ± Comparison against base commit 3f520dd.