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.

Inizia confrontando le implementazioni nella directory Localization, in particolare EKF e ParticleFilter, per identificare i comportamenti condivisi e i possibili confini dell'API. Esamina come gli script esistenti per la visualizzazione e i test interagiscono con questi filtri. Prima di scrivere il codice, definisci l'interfaccia base BayesFilter e concorda come dovrebbero essere un refactor completato e implementazioni di filtri compatibili.

Scritto dal modello di indicizzazione a partire dal testo della issue.