Classinated lidar.py, worldview.py

[RK22000]

Made lidar.py into a class. Tested it against the lidar visualizer.

1. This is a step toward making everything into classes for a cleaner code.

Don't delete the branch after merging

[RK22000]

Actually go ahead and delete it after merging I'll classify the next file on a new branch.

[RK22000]

Hey Eliot,
I'm thinking we don't need to make pathfinder into a class yet. pathfinder.py is literally just one function to get a navigator.
Instead look at #127 . I think that's a better way to clean up this situation

As of the latest commit, pathfinder_visuallizer.py works good. I havent yet checked captain,py

[chrehall68]

Wow, this looks great! Thanks for cleaning things up into classes! This really helps make the code manageable and readable!