More detail in lidar data, e.g. angle

[Thonners]

Update the list of lidar datas to include (at least) the angle of the lidar ray to vehicle normal (or heading), along with its distance. Potentially also location of lidar source so a full map of surroungings could be built.

Could also include nRay, etc. but unknown whether that would be of much use.

Motivation is to be able to better understand the vehicle's position relative to walls, etc. without having to replicate the same angle logic

[steviet91]

Could be implemented easily enough. Was trying to make the "driver" part as realistic as possible and so just replicated the data coming from a real lidar. All the information is there to try and build a track model from the distance information. We can just.have it as an enable flag perhaps