[gabrielfrasantos]

Adds spec files (implementation.md, tests.md, explanation.md) for the localization family, in the new roadmap/localization/ module.

• E1 OdometryFusion — EKF on (x, y, θ, gyro bias).
  • Wheel speed and gyro rate drive the prediction along the exact SE(2) arc.
  • The wheel yaw rate is a χ²-gated bias measurement; a gated update means the wheels slipped.
  • Optional heading and position fixes go through the same update.
• E2 OccupancyGridMap — clamped log-odds along Bresenham rays. Max-range readings only clear cells, and rays stop at the map border.
• E3 LandmarkLocalization — range–bearing EKF with nearest-neighbour Mahalanobis association, a χ² gate, and bearing residuals wrapped across ±π.
• E4 MonteCarloLocalization — ParticleFilter (NT70) with the odometry motion model and a likelihood field built by a two-pass chamfer transform. The caller injects normal and uniform samplers, so runs are deterministic.
• E5 ScanMatcher — point-to-point ICP (Kabsch, NT67) or point-to-line ICP (Levenberg–Marquardt, NT64). It rejects outlier pairs and returns nullopt for a degenerate corridor instead of drifting.

Upstream dependencies. E1 and E3 build on the new ResidualKalmanUpdate (NT74). ExtendedKalmanFilter can't wrap residuals, use a per-landmark measurement model, or expose S for gating. NT67, NT70 and NT74 came in with embedded-pro/numerical-toolbox-cpp#364, which has merged.

F1 change. PlanarOdometry gains the shared odometry noise model (OdometryNoise, IncrementDeviation), which E3 and E4 both use. The noise is added to the body-frame increment instead of using Thrun's rotate–translate–rotate split, whose first rotation jumps by π when the robot reverses.

ROADMAP and index.

• The upstream table links the NT67, NT70 and NT74 specs and adds the NT74 row.
• E1 and E3 now point at NT74 instead of upstream ExtendedKalmanFilter.
• The E entries describe the designs above.
• roadmap/README.md has an index entry for localization.

Carried fix. The destructor-rule bullet in .github/instructions/robotics-cpp.instructions.md from #30 was 615 characters, over markdownlint's 400-character limit (the one MegaLinter warning on #30). It is now wrapped. The fix was pushed after #30 had already merged.

Verification. Every reference value in the test plans comes from a Python reference implementation:

• E1: bias estimation at standstill and slip gating.
• E2: Bresenham traces.
• E3: association and the wrap across ±π.
• E4: likelihood-field scoring in a test room and resampling.
• E5: exact and half-spacing scans, outlier rejection and corridor degeneracy.

The point-to-line ICP removes a 3 cm bias that point-to-point keeps when the scans sample the walls at different spots.

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Generated by Claude Code

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✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.71s
✅ CPP	clang-format	35	0	0		0	0.93s
✅ CPP	cppcheck	35		0		0	1.34s
✅ DOCKERFILE	hadolint	1		0		0	0.46s
✅ JSON	jsonlint	8		0		0	0.11s
✅ JSON	prettier	8	2	0		0	0.42s
✅ MARKDOWN	markdownlint	164	0	0		0	2.71s
✅ MARKDOWN	markdown-table-formatter	164	0	0		0	0.25s
⚠️ SPELL	lychee	198		1		0	2.32s
✅ YAML	prettier	12	0	0		0	0.58s
✅ YAML	yamllint	12		0		0	0.79s

Detailed Issues

⚠️ SPELL / lychee - 1 error

📝 Summary
---------------------
🔍 Total..........135
🔗 Unique..........71
✅ Successful.....124
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........1
⛔ Unsupported......1

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