Added partially wrapped normal distribution for SE(2)

[FlorianPfaff]

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[github-actions]

Test Results

0 files   -    12  0 suites   - 12   0s ⏱️ - 4h 5m 57s
0 tests  -   747  0 ✅  -   747  0 💤 ±    0  0 ❌ ±0 
0 runs   - 9 248  0 ✅  - 7 736  0 💤  - 1 512  0 ❌ ±0 

Results for commit b86c4cf. ± Comparison against base commit 82aa0d9.

♻️ This comment has been updated with latest results.

[github-actions]

❌MegaLinter analysis: Error

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✅ PYTHON	mypy	249		0	0	4.05s
❌ PYTHON	pylint	249		1	0	68.93s
✅ PYTHON	ruff	249	2	0	0	0.04s
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✅ REPOSITORY	gitleaks	yes		no	no	5.62s
✅ REPOSITORY	git_diff	yes		no	no	0.02s
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Detailed Issues

❌ PYTHON / pylint - 1 error

************* Module pyrecest.tests.distributions.test_se2_partially_wrapped_normal_distribution
pyrecest/tests/distributions/test_se2_partially_wrapped_normal_distribution.py:8:0: R0902: Too many instance attributes (9/7) (too-many-instance-attributes)

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[FlorianPfaff]

@copilot increase tolerance

FAILED pyrecest/tests/distributions/test_se2_partially_wrapped_normal_distribution.py::SE2PWNDistributionTest::test_integral - ValueError: not enough values to unpack (expected 2, got 1)
FAILED pyrecest/tests/distributions/test_se2_partially_wrapped_normal_distribution.py::SE2PWNDistributionTest::test_pdf - AssertionError:
Not equal to tolerance rtol=1e-10, atol=0

Mismatched elements: 20 / 20 (100%)
Max absolute difference among violations: 0.00957097
Max relative difference among violations: 7.44859227
ACTUAL: array([4.554286e-135, 9.156780e-135, 1.793513e-062, 3.709389e-064,
3.370479e-062, 1.491250e-018, 4.967011e-019, 2.709908e-018,
5.768815e-003, 1.059968e-002, 1.244864e-002, 4.716378e-003,...
DESIRED: array([0.002589, 0.001292, 0.001888, 0.001056, 0.003151, 0.00081 ,
0.001982, 0.000918, 0.001428, 0.001255, 0.002878, 0.002438,
0.001504, 0.000821, 0.001053, 0.001965, 0.00179 , 0.002783,
0.001068, 0.000866])
FAILED pyrecest/tests/distributions/test_se2_partially_wrapped_normal_distribution.py::SE2PWNDistributionTest::test_pdf_large_uncertainty - AssertionError:
Not equal to tolerance rtol=1e-05, atol=0

Mismatched elements: 1 / 1 (100%)
Max absolute difference among violations: 4.67224177e-06
Max relative difference among violations: 0.01931544
ACTUAL: array([0.000247])
DESIRED: array(0.000242)
== 3 failed, 515 passed, 74 warnings, 37 subtests

[Copilot]

@copilot increase tolerance

FAILED pyrecest/tests/distributions/test_se2_partially_wrapped_normal_distribution.py::SE2PWNDistributionTest::test_integral - ValueError: not enough values to unpack (...

Fixed in commit b86c4cf. Three issues were resolved:

1. test_pdf bug: The pdf() method had a reshape bug when processing batches — evals.reshape(-1, n_offsets).sum(axis=1) was incorrectly grouping evaluations across different samples instead of different offsets for the same sample. Fixed to evals.reshape(n_offsets, -1).sum(axis=0).

2. test_integral error: get_reasonable_integration_boundaries() was returning a stacked 2D numpy array with uninitialized periodic bounds, instead of a proper list of [lower, upper] pairs for nquad. Fixed to return [[0, 2π], ...] for periodic dims and [mean±scale*sigma] for linear dims. Also fixed integrate_numerically() to use .item() (numpy 2.x compatible) when extracting the scalar from the pdf result.

3. test_pdf_large_uncertainty tolerance: Increased rtol from 1e-5 to 0.05 to accommodate the ~3% difference that arises when theta crosses the 2π boundary (the class wraps theta to [0, 2π) before adding offsets while the reference does not, resulting in slightly different term coverage).