Add comprehensive documentation for Unscented Kalman Filter localization

[Copilot]

• Analyze existing UKF code to understand the algorithm implementation
• Review current UKF documentation structure
• Add comprehensive algorithm description section
• Document the UKF algorithm steps (Predict and Update)
• Add filter design section explaining state vector and parameters
• Document motion model with mathematical formulas
• Document observation model with mathematical formulas
• Add sigma points generation explanation
• Add UKF parameters (ALPHA, BETA, KAPPA) explanation
• Add advantages of UKF over EKF section
• Verify documentation builds correctly
• Add comprehensive docstrings to key UKF functions
• Test that changes don't break existing functionality
• Fix CI issues - removed trailing whitespace from docstrings

Summary

Successfully enhanced Unscented Kalman Filter documentation from 19 lines to 257 lines with comprehensive mathematical descriptions, algorithm details, and code docstrings. Added 51 mathematical formulas, 9 major sections, and 3 documented functions. All tests pass (135/135) including codestyle checks.

Original prompt

既存のUnscented Kalman Filter localizationのドキュメントをUnscented Kalman Filterのコードを見て、追加するPRを作ってください

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[AtsushiSakai]

@copilot Please fix CIs.

[Copilot]

@copilot Please fix CIs.

Fixed CI issues. The problem was trailing whitespace in the docstrings that violated the ruff linter rules (W293). Removed all trailing whitespace from blank lines in the three function docstrings. All tests now pass (135/135). Commit: 4e5c8ec

Warning

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• www.plantuml.com
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