Make MEM-RBPF prediction failures atomic

[FlorianPfaff]

Summary

• validate predict_linear overrides before mutating tracker configuration or state
• compute the complete kinematic/extent prediction into temporary values, then commit it only after validation/computation succeeds
• add regression coverage for invalid system, shape-transition, and shape-noise overrides

Bug fixed

Previously, MEMRBPFTracker.predict_linear advanced kinematic_state/covariance before validating shape_system_matrix or shape_sys_noise. It also assigned an invalid system_matrix before checking its shape. A rejected prediction could therefore leave the tracker partially advanced or with corrupted configuration.

Testing

Focused regression tests assert that all relevant state/configuration remains unchanged after these validation failures. Full repository CI is expected to run on this PR.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no		no	7.89s
✅ JSON	prettier	7	0	0		0	0.62s
✅ JSON	v8r	7		0		0	3.8s
✅ MARKDOWN	markdownlint	68	0	0		0	2.21s
✅ MARKDOWN	markdown-table-formatter	68	0	0		0	0.32s
✅ PYTHON	black	2029	11	0		0	68.01s
✅ PYTHON	isort	2029	14	0		0	2.97s
✅ REPOSITORY	betterleaks	yes		no		no	1.38s
✅ REPOSITORY	checkov	yes		no		no	36.87s
✅ REPOSITORY	git_diff	yes		no		no	0.12s
✅ REPOSITORY	secretlint	yes		no		no	111.29s
✅ REPOSITORY	syft	yes		no		no	3.42s
✅ REPOSITORY	trivy-sbom	yes		no		no	2.97s
✅ YAML	prettier	11	0	0		0	0.55s
✅ YAML	v8r	11		0		0	13.62s
✅ YAML	yamllint	11		0		0	1.11s

Notices

⚠️ Your configuration references items that have been removed from MegaLinter and are ignored: MAKEFILE_CHECKMAKE. See Removed linters to find their replacements.

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@10.0.0 --custom-flavor-setup --custom-flavor-linters PYTHON_BLACK,PYTHON_ISORT,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_BETTERLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

Show us your support by starring ⭐ the repository