reformatted DetectionsAndOdometry to contain a list of detections

modules/detection_and_odometry.py

@@ -8,45 +8,44 @@
 
 class DetectionAndOdometry:
     """
-    Contains LiDAR reading and current local odometry.
+    Contains LiDAR readings and current local odometry.
     """
 
     __create_key = object()
 
     @classmethod
     def create(
         cls,
-        detection: lidar_detection.LidarDetection,
+        detections: "list[lidar_detection.LidarDetection]",
         local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> "tuple[bool, DetectionAndOdometry | None]":
         """
-        Combines lidar reading with local odometry
+        Combines lidar readings with local odometry
         """
-
-        if detection is None:
+        if len(detections) == 0:
             return False, None
 
         if local_odometry is None:
             return False, None
 
-        return True, DetectionAndOdometry(cls.__create_key, detection, local_odometry)
+        return True, DetectionAndOdometry(cls.__create_key, detections, local_odometry)
 
     def __init__(
         self,
         create_key: object,
-        detection: lidar_detection.LidarDetection,
+        detections: "list[lidar_detection.LidarDetection]",
         local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> None:
         """
         Private constructor, use create() method.
         """
         assert create_key is DetectionAndOdometry.__create_key, "Use create() method"
 
-        self.detection = detection
+        self.detections = detections
         self.odometry = local_odometry
 
     def __str__(self) -> str:
         """
         String representation.
         """
-        return f"{self.__class__.__name__}, {self.detection}, str{self.odometry}"
+        return f"{self.__class__.__name__}, Detections ({len(self.detections)}): {self.detections}, str{self.odometry}"