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Implement BayesFilter base class and refactor localization filters (#1277)#1307

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Implement BayesFilter base class and refactor localization filters (#1277)#1307
ProblemShooter wants to merge 3 commits into
AtsushiSakai:masterfrom
ProblemShooter:master

Add ParticleFilter class inheriting from BayesFilter (#1277)

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