Wrap piecewise-constant circular matrix models

[FlorianPfaff]

Summary

• wrap numerical system-model outputs modulo 2*pi before assigning them to state intervals
• wrap numerical measurement-model outputs modulo 2*pi before assigning them to measurement intervals
• add focused regressions using additive circular models with uniform noise

Bug

PiecewiseConstantFilter.calculate_system_matrix_numerically() and calculate_measurement_matrix_numerically() integrated the raw outputs of a(x, w) and h(x, v) against intervals in [0, 2*pi). For natural additive circular models such as x + w, outputs above 2*pi were therefore outside every interval and their probability mass was silently discarded. The resulting transition or measurement matrix could have columns whose total probability was substantially below one.

Fix

Normalize the model output with the backend mod(..., 2*pi) operation before the interval-membership test. Callers that already return wrapped angles are unaffected; unwrapped additive models now preserve circular probability mass.

Validation

• branch is based directly on fc15bed910b324cd0619a2f2b71abc887bc09747 (main) and is 2 commits ahead / 0 behind
• production diff is limited to three replacements in piecewise_constant_filter.py
• NumPy regressions require the 2-bin transition and measurement matrices for uniform additive circular noise to be 0.5 in every entry and to have unit column sums
• full backend/test validation is delegated to GitHub Actions because this execution environment cannot clone the repository over the network

[github-actions]

✅MegaLinter analysis: Success

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✅ REPOSITORY	secretlint	yes		no		no	87.39s
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