Avoid cancellation in Merwe sigma-point scaling - #4289

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FlorianPfaff wants to merge 17 commits into

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agent/avoid-merwe-scale-cancellation-20260713

Commits on Jul 13, 2026

Preserve signed one-dimensional torus integration
FlorianPfaff
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7dc2f0f
Restore signed scalar integration regression
FlorianPfaff
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33037f7
Use backend conjugation in wrapped-Cauchy test
FlorianPfaff
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3d54f48
Keep integration regression diff minimal
FlorianPfaff
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d08f786
Accept singleton mode vectors for von Mises updates
FlorianPfaff
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49ea581
Restore von Mises helpers after mode-shape fix
FlorianPfaff
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05a8d5e
Use explicit coarse-grid alignment tolerance
FlorianPfaff
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d61968e
Match SciPy boolean axis handling in PyTorch fftconvolve
FlorianPfaff
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41b0de1
Remove contradictory boolean-axis expectations
FlorianPfaff
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7d9375c
Accept scalar array axes in PyTorch flip
FlorianPfaff
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3a81811
Accept backend integer scalars for wrapped-normal moments
FlorianPfaff
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18a54af
Keep SE3 plotting backend independent
FlorianPfaff
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2e5f5a1
Compare wrapped-Cauchy moments through the active backend
FlorianPfaff
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9ce8c8d
Compare wrapped-Laplace moments through the active backend
FlorianPfaff
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197974d
Handle optional RTS control entries on PyTorch
FlorianPfaff
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2cb6080
Avoid Merwe scale cancellation
FlorianPfaff
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466b7c8
Test small Merwe alpha scaling
FlorianPfaff
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2e1b34b