Refactor into classes

[chrehall68]

Issue:

part of #114

• get rid of global variables in files like captain.py since these global variables are often scattered around the file, making files unorganized. Also, these global variables might instantiate items that we shouldn't be instantiating if the name isn't main. Instead, use classes with instance variables
• Export classes, not modules for ease-of-use

[RK22000]

Files to Refactor

• [x] unified_frameworks\sensor_array\lidar.py
• [x] unified_frameworks\worldview.py
• [x] unified_frameworks\pathfinder.py
• [x] unified_frameworks\captain.py

Gonna refactor them all as types of Service (class in unified_utils)