refactor(01-01): convert hot-path schemas/*.py to hot_types re-export shims

- schemas/eskf.py: keep ConfidenceTier + ESKFConfig; re-export IMUSample
  and ESKFState from hot_types (define ConfidenceTier BEFORE the
  hot_types imports to avoid circular import — eskf_state.py imports
  ConfidenceTier from this module). Legacy alias IMUMeasurement = IMUSample.
- schemas/vo.py: re-export Features, Matches, RelativePose, Motion,
  VOEstimate from hot_types.vo_estimate.
- schemas/satellite.py: re-export TileCoords, TileBounds, SatelliteAnchor.
- schemas/metric.py: keep LiteSAMConfig; re-export AlignmentResult,
  ChunkAlignmentResult, Sim3Transform.
- schemas/rotation.py: keep HeadingHistory + RotationConfig; re-export
  RotationResult.

Auto-fixes (Rules 1 + 3) needed to keep the 216-test floor green:
- core/rotation.py: refactor try_rotation_steps to use
  dataclasses.replace instead of attribute assignment on RotationResult
  (Rule 1 — frozen dataclass forbids mutation; Pydantic silently allowed
  it). PATTERNS.md §6.1 already flagged Pose mutation but missed this site.
- hot_types/vo_estimate.py: add Optional `covariance: np.ndarray` field
  to RelativePose (Rule 3 — five test sites construct RelativePose with
  `covariance=np.eye(6)`; Pydantic v2 silently accepted the extra kwarg
  via default `extra="ignore"`. Declaring the field preserves the
  construction contract under the dataclass migration without editing
  tests).

Verification: pytest tests/ -q --ignore=tests/e2e → 216 passed, 8 skipped
(matches baseline). Accuracy bench (23 tests) passes.

src/gps_denied/schemas/rotation.py

@@ -1,24 +1,16 @@
-"""Rotation schemas (Component F06)."""
+"""Rotation schemas (Component F06).
+
+Phase 1 shim — hot-path `RotationResult` lives in
+`gps_denied.hot_types.rotation_result`. `HeadingHistory` (mutable
+bookkeeping) and `RotationConfig` (config) stay here as Pydantic.
+"""
 
 from datetime import datetime
 from typing import Optional
 
-import numpy as np
 from pydantic import BaseModel
 
-
-class RotationResult(BaseModel):
-    """Result of a rotation sweep alignment."""
-    matched: bool
-    initial_angle: float
-    precise_angle: float
-    confidence: float
-    # We will exclude np.ndarray from BaseModel to avoid validation issues,
-    # but store it as an attribute if needed or use arbitrary_types_allowed.
-
-    model_config = {"arbitrary_types_allowed": True}
-    homography: Optional[np.ndarray] = None
-    inlier_count: int = 0
+from gps_denied.hot_types.rotation_result import RotationResult  # noqa: F401
 
 
 class HeadingHistory(BaseModel):
@@ -36,3 +28,10 @@ class RotationConfig(BaseModel):
     sharp_turn_threshold: float = 45.0
     confidence_threshold: float = 0.7
     history_size: int = 10
+
+
+__all__ = [
+    "HeadingHistory",
+    "RotationConfig",
+    "RotationResult",
+]