feat: Rust VIO implementation + cross-language numerical test suite#1

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vlordier wants to merge 14 commits into

ETH-PBL:mainfrom

vlordier:feat/rust-implementation

Commits on Apr 16, 2026

Add benchmarked, linted, tested Rust implementation of LEVIO VIO
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Remove build artifacts from tracking and add target/ to .gitignore
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Optimise hot-path algorithms in the Rust implementation
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Further hot-path optimisation, fixes, and chores
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perf/chore: round 3 hot-path optimisations and housekeeping
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perf/chore: round 4 hot-path optimisations and housekeeping
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perf/typing/portability: round 5 hotpath, typing, magic numbers, repr(C)
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perf/chore: round 6 hotpath, zero-elim, skew inline, debug_assert casts
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perf/chore: round 7 half-angle trick, DLT alloc elim, ata fast path
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perf/fix/chore: round 8 Harris loop, QR alloc, overflow fix, constants
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perf: round 9 matrix fast paths, QR bvec, candidates pre-alloc
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Round 10: trait-oriented interfaces, realtime-safe RANSAC, no-magic-number cleanup
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Round 11: Mat3 type alias, Optimizer/Preintegrator traits, bug fixes, alloc elimination
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feat: Rust implementation + cross-language test suite (rounds 1–17)
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