Integrating range sensor into AMCL package

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Hi all,

I was planning on incorporating a range-sensor ( a scalar scalar measurement that represents the distance between the position of a known fixed beacon and the robot) into the AMCL package.

As in, adding another resampling step, using weights solely based the range measurement, before or after resampling with the laser scanner. I was hoping someone could shed some light on how to do this properly since the AMCL code base is pretty big and long and I would prefer to do it right..

I noticed I can add news sensors (as it looks like there are some some .cpp and .h template files for sensors); but I don't see where and how I should add routines for weight calculations and resampling analogue to the odom and laser routines.

Could someone point me to documentation on this or share their ideas on how to do this?

Thanks for your time.

Thomas