created lidar detection data structure

modules/lidar_detection.py

@@ -0,0 +1,43 @@
+"""
+LiDAR detection data structure.
+"""
+
+
+class LidarDetection:
+    """
+    Lidar scan
+    """
+
+    __create_key = object()
+
+    __DISTANCE_LIMIT = 50
+    __ANGLE_LIMIT = 170
+
+    @classmethod
+    def create(cls, distance: float, angle: float) -> "tuple[bool, LidarDetection | None]":
+        """
+        Distance is in meters.
+        Angle is in degrees.
+        """
+        if distance < 0 or distance > cls.__DISTANCE_LIMIT:
+            return False, None
+
+        if abs(angle) > cls.__ANGLE_LIMIT:
+            return False, None
+
+        return True, LidarDetection(cls.__create_key, distance, angle)
+
+    def __init__(self, create_key: object, distance: float, angle: float) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert create_key is LidarDetection.__create_key, "Use create() method"
+
+        self.distance = distance
+        self.angle = angle
+
+    def __str__(self) -> str:
+        """
+        String representation
+        """
+        return f"{self.__class__.__name__}: Distance: {self.distance}, Angle: {self.angle}. "