Cubature Kalman Filter

[jmbarr]

Provides a cubature Kalman predictor and updater. (Credit should go to Bethany? I think.)

Side issue is that there's some odd behaviour at certain configurations. I'll provide a gist to highlight that.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 94.20290% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 93.27%. Comparing base (0a9ebe2) to head (4cae915). Report is 82 commits behind head on main.

Files	Patch %	Lines
stonesoup/functions/__init__.py	90.90%	2 Missing and 2 partials :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #948      +/-   ##
==========================================
+ Coverage   93.24%   93.27%   +0.02%     
==========================================
  Files         201      201              
  Lines       12617    12668      +51     
  Branches     2589     2596       +7     
==========================================
+ Hits        11765    11816      +51     
+ Misses        602      601       -1     
- Partials      250      251       +1     

Flag	Coverage Δ
integration	66.52% <42.02%> (-0.12%)	:arrow_down:
unittests	88.65% <94.20%> (+0.01%)	:arrow_up:

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[jmbarr]

Looks good 👍 Just some minor formatting changes, undo changes that'll break NumPy 2.0 compatibility, and new additional prior for Prediction type.

Don't think I did any of these formatting changes and can't explain how they got in. Is there an 'undo' button?