Align LOMEM update with paper reduction

[FlorianPfaff]

Summary

• replace the direct scatter-eigendecomposition axis update with a paper-aligned L:OMEM reduced-measurement update
• reduce scans to mean measurements and sample-covariance pseudo-measurements
• include the equivalent measurement covariance Cν = S C_h S^T + CII + C_v and BLUE/Kalman-style pseudo-measurement moments
• update LOMEM tests for the covariance pseudo-measurement and add a regression test that sensor noise is not interpreted as target extent

Verification

• python -m py_compile /mnt/data/new_lomem_tracker.py /mnt/data/new_test_lomem_tracker.py
• local standalone NumPy stub: python /mnt/data/new_test_lomem_tracker.py (10 tests passed)

Note: the full repository test suite was not run locally because this execution environment cannot clone/install the repository dependencies.

[github-actions]

Test Results

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

Results for commit 5b1c83b.

[github-actions]

❌MegaLinter analysis: Error

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	16.79s
✅ JSON	prettier	2	0	0	0	0.43s
✅ JSON	v8r	2		0	0	3.84s
✅ MARKDOWN	markdownlint	28	0	0	0	1.33s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.29s
✅ PYTHON	bandit	568		0	0	9.11s
✅ PYTHON	black	568	18	0	0	15.63s
❌ PYTHON	flake8	568		3	0	5.48s
✅ PYTHON	isort	568	19	0	0	1.06s
❌ PYTHON	mypy	568		1	0	7.36s
❌ PYTHON	pylint	568		6	0	101.79s
❌ PYTHON	ruff	568	20	3	0	0.12s
✅ REPOSITORY	checkov	yes		no	no	27.72s
✅ REPOSITORY	gitleaks	yes		no	no	14.35s
✅ REPOSITORY	git_diff	yes		no	no	0.09s
✅ REPOSITORY	osv-scanner	yes		no	no	1.03s
✅ REPOSITORY	secretlint	yes		no	no	9.87s
✅ REPOSITORY	syft	yes		no	no	3.2s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.48s
✅ REPOSITORY	trufflehog	yes		no	no	21.8s
✅ YAML	prettier	5	0	0	0	0.47s
✅ YAML	v8r	5		0	0	6.41s
✅ YAML	yamllint	5		0	0	0.5s

Detailed Issues

❌ PYTHON / flake8 - 3 errors

tests/distributions/test_abstract_hypersphere_subset_distribution.py:9:1: F401 'pyrecest.backend.prod' imported but unused
tests/filters/test_multi_bernoulli_mixture_tracker.py:9:1: F401 'pyrecest.filters.KalmanFilter' imported but unused
tests/test_jax_autodiff_backend.py:6:1: E402 module level import not at top of file

❌ PYTHON / mypy - 1 error

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/distributions/circle/wrapped_normal_distribution.py:187: error: Argument 1 of "convolve" is incompatible with supertype "pyrecest.distributions.hypertorus.hypertoroidal_wrapped_normal_distribution.HypertoroidalWrappedNormalDistribution"; supertype defines the argument type as "HypertoroidalWrappedNormalDistribution"  [override]
src/pyrecest/distributions/circle/wrapped_normal_distribution.py:187: note: This violates the Liskov substitution principle
src/pyrecest/distributions/circle/wrapped_normal_distribution.py:187: note: See https://mypy.readthedocs.io/en/stable/common_issues.html#incompatible-overrides
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_mem_qkf_smoother.py:339: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
src/pyrecest/smoothers/fixed_lag_mem_qkf_smoother.py:340: 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:395: 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:396: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs  [annotation-unchecked]
Found 1 error in 1 file (checked 568 source files)

❌ PYTHON / pylint - 6 errors

************* Module pyrecest.distributions.abstract_manifold_specific_distribution
src/pyrecest/distributions/abstract_manifold_specific_distribution.py:112:4: R0913: Too many arguments (7/6) (too-many-arguments)
************* Module pyrecest.distributions.hypersphere_subset.bingham_distribution
src/pyrecest/distributions/hypersphere_subset/bingham_distribution.py:94:4: E0102: function already defined line 65 (function-redefined)
************* Module tests.distributions.test_abstract_hypersphere_subset_distribution
tests/distributions/test_abstract_hypersphere_subset_distribution.py:9:0: W0611: Unused prod imported from pyrecest.backend (unused-import)
************* Module tests.filters.test_lomem_tracker
tests/filters/test_lomem_tracker.py:113:32: W0212: Access to a protected member _equivalent_measurement_covariance of a client class (protected-access)
************* Module tests.filters.test_multi_bernoulli_mixture_tracker
tests/filters/test_multi_bernoulli_mixture_tracker.py:58:24: W0212: Access to a protected member _measurement_likelihood_and_distance of a client class (protected-access)
tests/filters/test_multi_bernoulli_mixture_tracker.py:9:0: W0611: Unused KalmanFilter imported from pyrecest.filters (unused-import)

------------------------------------
Your code has been rated at 10.00/10

❌ PYTHON / ruff - 3 errors

E402 Module level import not at top of file
 --> tests/test_jax_autodiff_backend.py:6:1
  |
4 | jnp = pytest.importorskip("jax.numpy")
5 |
6 | from pyrecest._backend.jax import autodiff
  | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |

Found 3 errors (2 fixed, 1 remaining).

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