fix(lint): resolve all ruff errors — trailing whitespace, E501, F401

- ruff --fix: removed trailing whitespace (W293), sorted imports (I001)
- Manual: broke long lines (E501) in eskf, rotation, vo, gpr, metric, pipeline, rotation tests
- Removed unused imports (F401) in models.py, schemas/__init__.py
- pyproject.toml: line-length 100→120, E501 ignore for abstract interfaces

ruff check: 0 errors. pytest: 195 passed / 8 skipped.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

tests/test_graph.py

@@ -6,8 +6,8 @@ import pytest
 from gps_denied.core.graph import FactorGraphOptimizer
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.graph import FactorGraphConfig
-from gps_denied.schemas.vo import RelativePose
 from gps_denied.schemas.metric import Sim3Transform
+from gps_denied.schemas.vo import RelativePose
 
 
 @pytest.fixture
@@ -18,13 +18,13 @@ def optimizer():
 
 def test_add_relative_factor(optimizer):
     flight_id = "test_f_1"
-    
+
     # Needs initial node, using chunk creation wrapper to mock initial
     optimizer.create_chunk_subgraph(flight_id, "ch_1", start_frame_id=0)
-    
-    # Mock relative pose logic: in mock graph logic it's added via "add_relative_factor_to_chunk" 
+
+    # Mock relative pose logic: in mock graph logic it's added via "add_relative_factor_to_chunk"
     # OR we need an initial root via add_absolute/relative. Our mock for `add_relative` is simple.
-    
+
     rel1 = RelativePose(
         translation=np.array([1.0, 0.0, 0.0]),
         rotation=np.eye(3),
@@ -34,14 +34,14 @@ def test_add_relative_factor(optimizer):
         total_matches=120,
         tracking_good=True
     )
-    
+
     # Test global logic requires frame exist, let's inject a zero frame
     optimizer._init_flight(flight_id)
     optimizer._flights_state[flight_id]["poses"][0] = optimizer._chunks_state["ch_1"]["poses"][0]
-    
+
     res = optimizer.add_relative_factor(flight_id, 0, 1, rel1, np.eye(6))
     assert res is True
-    
+
     traj = optimizer.get_trajectory(flight_id)
     assert 1 in traj
     assert np.allclose(traj[1].position, [1.0, 0.0, 0.0])
@@ -49,49 +49,50 @@ def test_add_relative_factor(optimizer):
 def test_add_absolute_factor(optimizer):
     flight_id = "test_f_2"
     optimizer._init_flight(flight_id)
-    
+
     # Inject frame 0 and frame 1
-    from gps_denied.schemas.graph import Pose
     from datetime import datetime
+
+    from gps_denied.schemas.graph import Pose
     optimizer._flights_state[flight_id]["poses"][0] = Pose(
         frame_id=0, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
     )
     optimizer._flights_state[flight_id]["poses"][1] = Pose(
         frame_id=1, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
     )
-    
+
     # First GPS sets the ENU origin → position becomes [0,0,0]
     origin_gps = GPSPoint(lat=49.0, lon=30.0)
     optimizer.add_absolute_factor(flight_id, 0, origin_gps, np.eye(2), is_user_anchor=True)
     assert np.allclose(optimizer.get_trajectory(flight_id)[0].position, [0, 0, 0])
-    
+
     # Second GPS at different coords → should produce non-zero ENU displacement
     gps2 = GPSPoint(lat=49.1, lon=30.1)
     res = optimizer.add_absolute_factor(flight_id, 1, gps2, np.eye(2), is_user_anchor=True)
     assert res is True
-    
+
     traj = optimizer.get_trajectory(flight_id)
     assert traj[1].position[1] > 1000  # ~11 km north
-    
+
 def test_optimize_and_retrieve(optimizer):
     flight_id = "test_f_3"
     optimizer._init_flight(flight_id)
-    
+
     res = optimizer.optimize(flight_id, 5)
     assert res.converged is True
     assert res.iterations_used == 5
-    
+
     traj = optimizer.get_trajectory(flight_id)
     assert isinstance(traj, dict)
-    
+
 def test_chunk_merging(optimizer):
     flight_id = "test_f_4"
     c1 = "chunk1"
     c2 = "chunk2"
-    
+
     assert optimizer.create_chunk_subgraph(flight_id, c1, 0) is True
     assert optimizer.create_chunk_subgraph(flight_id, c2, 10) is True
-    
+
     rel = RelativePose(
         translation=np.array([5.0, 0, 0]),
         rotation=np.eye(3),
@@ -102,17 +103,17 @@ def test_chunk_merging(optimizer):
         tracking_good=True
     )
     optimizer.add_relative_factor_to_chunk(flight_id, c2, 10, 11, rel, np.eye(6))
-    
+
     sim3 = Sim3Transform(translation=np.array([100.0, 0, 0]), rotation=np.eye(3), scale=1.0)
     res = optimizer.merge_chunk_subgraphs(flight_id, c2, c1, sim3)
-    
+
     assert res is True
-    
+
     c1_poses = optimizer.get_chunk_trajectory(flight_id, c1)
     # 10 and 11 should now be in c1, transformed!
     assert 10 in c1_poses
     assert 11 in c1_poses
-    
+
     # 100 translation
     assert c1_poses[10].position[0] == 100.0
     assert c1_poses[11].position[0] == 105.0