msf 目录参考

msf 的目录依赖关系图

目录
	common
	local_integ
	local_map
	local_pyramid_map
	local_tool
	params

文件
	msf_localization.cc
	msf_localization.h
	The class of MSFLocalization
	msf_localization_component.cc
	msf_localization_component.h