Validate robust linear-Gaussian update inputs

[FlorianPfaff]

Summary

• Reuse the linear-Gaussian innovation helper inside linear_gaussian_update_robust so robust updates get the same state, measurement, matrix, and noise-shape validation as the standard update path before NIS/gating decisions.
• Add regression tests for invalid measurement and measurement-noise shapes on the gated rejection path.

Validation

• python -m py_compile /tmp/_linear_gaussian.py /tmp/test_robust_linear_gaussian_update.py

I could not run the full repository test suite locally in this environment, so CI should be treated as the authoritative validation.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	58.9s
✅ JSON	prettier	7	0	0	0	1.02s
✅ JSON	v8r	7		0	0	5.65s
✅ MARKDOWN	markdownlint	68	0	0	0	1.73s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.65s
✅ PYTHON	black	880	0	0	0	52.18s
✅ PYTHON	isort	880	0	0	0	2.8s
✅ REPOSITORY	checkov	yes		no	no	46.42s
✅ REPOSITORY	gitleaks	yes		no	no	10.59s
✅ REPOSITORY	git_diff	yes		no	no	0.12s
✅ REPOSITORY	secretlint	yes		no	no	27.85s
✅ REPOSITORY	syft	yes		no	no	3.76s
✅ REPOSITORY	trivy-sbom	yes		no	no	7.37s
✅ REPOSITORY	trufflehog	yes		no	no	23.33s
✅ YAML	prettier	11	0	0	0	0.75s
✅ YAML	v8r	11		0	0	12.19s
✅ YAML	yamllint	11		0	0	0.55s

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