fix(ik): Robot.ikine_* accept an (N, 4, 4) array of poses

[petercorke]

Summary

• ETS.ikine_* accept an (N, 4, 4) array as a pose trajectory, but the Robot wrappers (Robot.ikine_LM/NR/GN/QP) did not. They built the pose with SE3(Tep, check=False), which silently makes a malformed object from a 3-D array, and the solver then failed deep inside with ValueError: operands could not be broadcast together with shapes (3,4) (3,).
• Convert the array with a small helper, _as_se3, that works around spatialmath not accepting such an array (reported as Enhancement: SE3 constructor should accept an (N, 4, 4) ndarray as N poses rai-opensource/spatialmath-python#236), and reject any other array shape up front with a clear ValueError. The helper is used at all seven wrap sites (the four ikine_* and the three C++ ik_* wrappers). The ik_* solvers still handle a single pose only.

Notes

• Found while checking which IK entry points accept which input forms, for the docs in fix(ik): trajectory residual is the maximum, and document trajectory behaviour #712. That PR's trajectory docstrings say an (N, 4, 4) array is accepted by Robot.ikine_*, which is only true with this change.
• The two PRs touch the same files but merge cleanly in either order (checked with a trial merge).
• The workaround can be removed once spatialmath accepts stacked arrays.

Test plan

• tests/test_IK.py and tests/test_ik_joint_limits.py pass locally
• test_robot_ikine_accepts_pose_arrays (LM/GN/NR, array vs SE3 input give the same result, and a single 4x4 array still works) fails on main with the ValueError above and passes here
• test_robot_ikine_rejects_badly_shaped_arrays
• CI

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[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 14 complexity · -4 duplication

Metric	Results
Complexity	14
Duplication	-4

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (acc6842) to head (c89800d).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/roboticstoolbox/robot/RobotKinematics.py	0.00%	8 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #714   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
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  Files        143     143           
  Lines      14269   14277    +8     
=====================================
- Misses     14269   14277    +8     

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