Trying to make loam_velodyne closed loop

[Gordonnp3]

I noticed that Loam_velodyne is open loop, i'm wondering if there is a way or any other packages out there to pull from to modify loam to make it closed loop as to better update current state of the robot. I was thinking instead of ROS package to close the loop using FPGA to pull from the sensors at the beam center extraction point on the LIDAR and to pair this with a feed-forward ANN and GA to update current state better. Execution speed would be our LIDAR's clock cycle, so if there is any way to close the loop along with concurrently running ANN and GA using our LIDAR it would be appreciated for some feedback.