The integration of GNSS RTK and IMU with extended particle filter

    }
    public function requireOnce($file)
    {
        require_once $file;
    }
    public function put($path, $contents, $lock = false)
    {
        return file_put_contents($path, $contents, $lock ? LOCK_EX : 0);
    }
    public function prepend($path, $data)

	}
 
	/**
	 * {@inheritDoc}
	 */
	public function write($sessionId, $data)
	{
		$this->files->put($this->path.'/'.$sessionId, $data, true);
	}
 

    {
        return $this->migrate($destroy);
    }
    public function save()
    {
        $this->addBagDataToSession();
        $this->ageFlashData();
        $this->handler->write($this->getId(), serialize($this->attributes));
        $this->started = false;
    }

    {
        with($session = $this->getSession($request))->setRequestOnHandler($request);
        $session->start();
        return $session;
    }
    protected function closeSession(SessionInterface $session)
    {
        $session->save();
        $this->collectGarbage($session);
    }

        $this->checkRequestForArraySessions($request);
        if ($this->sessionConfigured()) {
            $session = $this->startSession($request);
            $request->setSession($session);
        }
        $response = $this->app->handle($request, $type, $catch);
        if ($this->sessionConfigured()) {
            $this->closeSession($session);
            $this->addCookieToResponse($response, $session);
        }

    public function __construct(HttpKernelInterface $app, CookieJar $cookies)
    {
        $this->app = $app;
        $this->cookies = $cookies;
    }
    public function handle(Request $request, $type = HttpKernelInterface::MASTER_REQUEST, $catch = true)
    {
        $response = $this->app->handle($request, $type, $catch);
        foreach ($this->cookies->getQueuedCookies() as $cookie) {
            $response->headers->setCookie($cookie);

    public function __construct(HttpKernelInterface $app, Encrypter $encrypter)
    {
        $this->app = $app;
        $this->encrypter = $encrypter;
    }
    public function handle(Request $request, $type = HttpKernelInterface::MASTER_REQUEST, $catch = true)
    {
        return $this->encrypt($this->app->handle($this->decrypt($request), $type, $catch));
    }
    protected function decrypt(Request $request)

    public function __construct(HttpKernelInterface $app, array $middlewares)
    {
        $this->app = $app;
        $this->middlewares = $middlewares;
    }
    public function handle(Request $request, $type = HttpKernelInterface::MASTER_REQUEST, $catch = true)
    {
        return $this->app->handle($request, $type, $catch);
    }
    public function terminate(Request $request, Response $response)

        if ($this->isBooted()) {
            $this->fireAppCallbacks(array($callback));
        }
    }
    public function run(SymfonyRequest $request = null)
    {
        $request = $request ?: $this['request'];
        $response = with($stack = $this->getStackedClient())->handle($request);
        $response->send();
        $stack->terminate($request, $response);

|
| Once we have the application, we can simply call the run method,
| which will execute the request and send the response back to
| the client's browser allowing them to enjoy the creative
| and wonderful application we have whipped up for them.
|
*/
$app->run();
?>