Make EOT-OV prediction validation atomic

[FlorianPfaff]

Summary

• validate EOT-OV forgetting factors before changing tracker state
• reject non-finite forgetting factors
• stage kinematic, covariance, orientation, and inverse-gamma predictions before committing them
• add a regression ensuring rejected predictions leave all state components unchanged

Bug

OrientationVectorEOTTracker.predict_linear() previously advanced the kinematic state and covariances before checking whether the forgetting factor was valid or would reduce the inverse-gamma shape parameter to alpha <= 1. A caller catching the resulting ValueError therefore retained a partially advanced and internally inconsistent tracker.

Validation

• reproduced on the pre-fix implementation: the rejected prediction changed [0, 0, 1, 0] to [0.5, 0, 1, 0]
• focused NumPy-backed tracker suite: 8 tests passed after the fix
• Python compilation passed for the modified implementation and test module

Repository CI should provide the full backend and integration matrix.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	24.75s
✅ JSON	prettier	7	0	0	0	1.18s
✅ JSON	v8r	7		0	0	4.42s
✅ MARKDOWN	markdownlint	68	0	0	0	1.87s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.54s
✅ PYTHON	black	1705	257	0	0	103.91s
✅ PYTHON	isort	1705	484	0	0	2.94s
✅ REPOSITORY	betterleaks	yes		no	no	2.52s
✅ REPOSITORY	checkov	yes		no	no	54.15s
✅ REPOSITORY	gitleaks	yes		no	no	16.55s
✅ REPOSITORY	git_diff	yes		no	no	0.43s
✅ REPOSITORY	secretlint	yes		no	no	75.59s
✅ REPOSITORY	syft	yes		no	no	5.48s
✅ REPOSITORY	trivy-sbom	yes		no	no	7.2s
✅ REPOSITORY	trufflehog	yes		no	no	31.81s
✅ YAML	prettier	11	0	0	0	0.76s
✅ YAML	v8r	11		0	0	12.98s
✅ YAML	yamllint	11		0	0	0.59s

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