Code improvement in Localization dir

Hello,

I am new to this repo and was going through the documentation & code. I wanted to brainstorm a bit here.

I was wondering if there's any appetite for improving some of the software design within the Localization directory by introducing a base BayesFilter class and extending it for the respective versions, like EKF, ParticleFilter, etc. This could conceivably make the code across the different filter implementations similar and make adding new filters easier as well by introducing a common filter API for all future filters to implement. Conceivably, this can be wrapped with a few scripts that would depend on the base filter class to provide visualization and testing capabilities.

Thoughts?

Roy.