Fix IMU fallback pose extrapolation state#311
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This PR fixes the fallback prediction path used when too few IMU measurements are available between LiDAR scans.
The previous code computed the fallback delta from
T_lidar_imu, which is the LiDAR-IMU extrinsic transform and is normally fixed. As a result, the fallback path could fail to extrapolate the current IMU pose from recent motion. This change computes the delta from consecutiveT_world_imuposes instead.It also keeps
predicted_nav_world_imusynchronized after overriding the predicted pose and velocity, so the downstream intra-scan deskewing trajectory starts from the same fallback state used for the new frame initialization.