fix(ode): validate ExponentialMap::integrate_attitude's timestep and …

[naseem173]

…rate

Fixes #302. attitude_step and attitude_step_with_angular_acceleration fed a timestep and angular rate straight into SO3::exp with no validation: a non-finite rate produced a quaternion of NaNs that never recovered, and a non-positive timestep integrated backwards (or not at all) without comment.

attitude_step and attitude_step_with_angular_acceleration stay infallible, since they sit on RigidBody::stepped's documented panic-free per-tick path (and estimation::attitude_correction's per-tick path) - making them fallible would force that hot loop to become fallible too. Their docs now carry an explicit "Behavior" note describing the NaN policy instead of leaving it silent.

integrate_attitude, the multi-step driver (not used on any per-tick hot path, and already the same shape as the fallible Rk45::solve), now validates dt up front and the rate returned by its angular_rate_at callback on every step, returning the new IntegrateError::NonPositiveTimestep or the existing IntegrateError::NonFinite instead of silently producing garbage.

What & why

Adds input validation to ExponentialMap::integrate_attitude per #302, without changing the infallible signature of the per-tick primitives it's built from. See the commit message above for the full reasoning on scope.

Checklist

• cargo test + cargo clippy --all-targets clean locally (not run locally in this environment — relying on CI to verify; happy to fix any failures)
• New public APIs have a doc example
• No unwrap/expect/panic on library paths (typed errors instead)

[github-actions]

Thanks for the first PR! 🎉 You'll get a first review within 48 h. CI runs the 5-target matrix — a budget-gate failure isn't your fault, see ci/README.md.

[kmolan]

@naseem173 thanks for the contribution, please address existing failures before I review the changes. Looks like you need to run cargo fmt --all and commit the formatting changes, plus whatever compilation error the CI pipelines are getting. Lmk if its unclear what to fix.