likelihoob prob model sensor

[fbattocchia]

Proposed changes

The LikelihoodFieldProb sensor model is incorporated, based on the implementation presented in the book Probabilistic Robotics. To achieve this, the LikelihoodFieldModelCommon class is created, which implements the Likelihood Field shared by both the LikelihoodFieldProb and LikelihoodField models.

The LikelihoodFieldProb model, in addition to following the book's implementation, includes the summation of the logarithm of probabilities to prevent underflow when multiplying numerous small probabilities. Additionally, the Cluster-Based Estimation algorithm is integrated, enhancing the model's robustness against unmapped objects.

Furthermore, unit tests are implemented for the LikelihoodFieldProb sensor model.

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

Checklist

Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

[glpuga]

This is currently being evaluated by running Ekumen-OS/lambkin#123 on the whole set of datasets.