Reject non-vector SE2 UKF measurements

[FlorianPfaff]

Bug

SE2UKF._validate_se2_measurement() flattened the supplied measurement before validating its shape. Consequently, row vectors, column vectors, and matrices with four total elements—such as shapes (1, 4), (4, 1), and (2, 2)—were silently accepted as dual-quaternion measurements.

This violates the documented (4,) input contract and can hide upstream batching, orientation, or reshaping mistakes.

Fix

• validate the original backend-array shape instead of flattening it;
• require measurements to have the exact shape (4,);
• preserve valid Python lists and one-dimensional backend arrays.

Regression coverage

A focused public-API test verifies that update_identity() rejects measurements with shapes:

• (1, 4);
• (4, 1);
• (2, 2).

Validation

• reproduced the old acceptance directly from the pre-validation .ravel() behavior;
• inspected the branch diff: one production-line change plus one focused test file;
• the branch is currently two commits behind rapidly advancing main, and those intervening commits concern UKF-M and Bingham-filter validation rather than SE2UKF;
• a local repository checkout was unavailable in this environment, so GitHub Actions provides the authoritative test and backend-matrix validation.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	24.82s
✅ JSON	prettier	7	0	0	0	1.21s
✅ JSON	v8r	7		0	0	3.52s
✅ MARKDOWN	markdownlint	68	0	0	0	1.96s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.74s
✅ PYTHON	black	1634	238	0	0	94.94s
✅ PYTHON	isort	1634	434	0	0	2.77s
✅ REPOSITORY	betterleaks	yes		no	no	2.89s
✅ REPOSITORY	checkov	yes		no	no	54.31s
✅ REPOSITORY	gitleaks	yes		no	no	14.59s
✅ REPOSITORY	git_diff	yes		no	no	0.47s
✅ REPOSITORY	secretlint	yes		no	no	69.53s
✅ REPOSITORY	syft	yes		no	no	6.13s
✅ REPOSITORY	trivy-sbom	yes		no	no	6.65s
✅ REPOSITORY	trufflehog	yes		no	no	31.45s
✅ YAML	prettier	11	0	0	0	0.69s
✅ YAML	v8r	11		0	0	10.29s
✅ YAML	yamllint	11		0	0	0.55s

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