Lidar processing (#49)

* Created classes to represent an oscillation of LiDAR Readings

* Fixed Linting, Created classes to represent lidar oscillations

* Made Changes based on PR review. added min_angle max_angle, used LidarDetection objects, adjusted _str_ to print on one line and include all relevant details

* made changes in review, fixed for linting

* changed imports, removed None checks for array of LidarDetection

* Made final review change for empty check

modules/lidar_oscillation.py

@@ -0,0 +1,47 @@
+"""
+Representing a LiDAR Oscillation
+"""
+
+from . import lidar_detection
+
+
+class LidarOscillation:
+    """
+    Class to represent a collection of LiDAR readings that make up an oscillation.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, readings: list[lidar_detection.LidarDetection]
+    ) -> "tuple[bool, LidarOscillation | None]":
+        """
+        Create a new LidarOscillation object from a list of LidarReading objects.
+        """
+        if not readings:
+            return False, None
+        return True, LidarOscillation(cls.__create_key, readings)
+
+    def __init__(
+        self, class_private_create_key: object, readings: list[lidar_detection.LidarDetection]
+    ) -> None:
+        """
+        Private constructor, use create() method to instantiate.
+        """
+        assert class_private_create_key is LidarOscillation.__create_key, "Use the create() method"
+
+        self.readings = readings
+        angles = [reading.angle for reading in readings]
+        self.min_angle = min(angles)
+        self.max_angle = max(angles)
+
+    def __str__(self) -> str:
+        """
+        Return a string representation of the LiDAR oscillation data.
+        """
+        reading_strs = []
+        for reading in self.readings:
+            reading_strs.append(str(reading))
+        formatted_readings = ", ".join(reading_strs)
+        return f"LidarOscillation: {len(self.readings)} readings, Min angle: {self.min_angle}, Max angle: {self.max_angle}, Readings: {formatted_readings}."