Fix Fourier RHM validation and prediction atomicity

[FlorianPfaff]

Summary

• make FourierRHMTracker.predict_linear() atomic when process-noise validation fails
• reject non-finite state/measurement inputs and scalar UKF/RHM controls before they can poison the recursion
• validate covariance-like inputs as finite, symmetric positive-semidefinite matrices instead of silently symmetrizing them
• add regressions for the partial-state update, asymmetric process noise, non-finite measurement noise, and NaN scalar controls

Bug

predict_linear() previously called _set_state_vector() before validating sys_noise. An invalid process-noise shape therefore raised after the state had advanced, leaving the tracker with a new state and old covariance. Covariance-like inputs were also silently symmetrized, while NaN scalar controls passed checks such as value < 0.0.

Validation

Local checkout/test execution is unavailable in this environment, so the focused regressions are included for GitHub CI to execute. The branch is based on current main (dd227b27).

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
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✅ JSON	v8r	7		0		0	5.17s
✅ MARKDOWN	markdownlint	68	0	0		0	1.88s
✅ MARKDOWN	markdown-table-formatter	68	0	0		0	0.41s
✅ PYTHON	black	2027	7	0		0	57.33s
✅ PYTHON	isort	2027	10	0		0	2.84s
✅ REPOSITORY	betterleaks	yes		no		no	1.04s
✅ REPOSITORY	checkov	yes		no		no	33.2s
✅ REPOSITORY	git_diff	yes		no		no	0.13s
✅ REPOSITORY	secretlint	yes		no		no	99.31s
✅ REPOSITORY	syft	yes		no		no	2.73s
✅ REPOSITORY	trivy-sbom	yes		no		no	2.71s
✅ YAML	prettier	11	0	0		0	0.6s
✅ YAML	v8r	11		0		0	14.98s
✅ YAML	yamllint	11		0		0	0.89s

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