test(mobile): tests for vehicle models, sensor, landmark map, EKF and particle filter

[petercorke]

Summary

EKF (14% covered), ParticleFilter (21%) and Vehicle (35%) were among the least tested code in the toolbox, and several recent third-party bug reports (#719, #720, #721, #735) are in exactly these files. This adds tests/test_vehicle_estimators.py.

• Vehicle kinematics against closed-form results; state transition f and its Jacobians Fx, Fv against finite differences
• Range-bearing sensor against the geometry, range limits; seeded landmark maps
• EKF: dead reckoning (uncertainty grows, covariance symmetric positive definite), map-based localization (beats dead reckoning), map creation and SLAM (landmark and vehicle error against ground truth), landmark bookkeeping, Joseph and standard forms agree
• Particle filter converges to the truth, uncertainty shrinks, seeded and reproducible

Bounds are loose multiples of the errors measured at the time of writing, so they catch a broken estimator without being brittle. The whole file runs in under half a second (the particle filter test patches plt.pause, see below).

Coverage: EKF 14% → 70%, ParticleFilter 21% → 62%, sensors 79%, landmark map 64%.

Defects found

• EKF.plot_error() raises in SLAM (recorded as an expectedFailure), and has further problems: the line is plotted against sample index while the axes are in time, bgcolor is ignored, and the bounds use df=2 for a scalar error
• ParticleFilter.run() calls plt.pause(0.2) on every step even when animate=False, so run(T=10) takes 24 s of wall time

Fixes follow as separate PRs. Several docstring examples are also wrong (LandmarkMap(nlandmarks=...), RandomPath(20, 2), RangeBearingSensor(robot, map, W)); that is a separate docs PR.

This does not touch the code changed by #719, #720, #721 and #735, and the tests do not depend on those bugs.

Test plan

• pytest tests/test_vehicle_estimators.py on pgraph 0.6.5 and 1.0.0 (39 passed, 1 xfailed)
• No Python 3.12-only syntax

🤖 Generated with Claude Code

[codacy-production]

Not up to standards ⛔

🔴 Issues 7 high

Alerts:
⚠ 7 issues (≤ 0 issues of at least minor severity)

Results:
7 new issues

Category	Results
ErrorProne	7 high

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🟢 Metrics 62 complexity · 9 duplication

Metric	Results
Complexity	62
Duplication	9

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (e094f89) to head (cf4e1d0).

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #747   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        143     143           
  Lines      14271   14271           
=====================================
  Misses     14271   14271           

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