[SlidingWindow] implemented a sliding window class for utility

src/shared/utils/SlidingWindow.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <array>
+
+namespace Boardcore
+{
+
+template <typename T, size_t D>
+class SlidingWindow
+{
+public:
+    explicit SlidingWindow() : window({}), filled(0) {}
+
+    void push(T value)
+    {
+        shiftWindow(1);
+        filled < D ? filled++ : filled;
+        setLast(value);
+    }
+
+    bool isFull() { return filled == D; }
+
+    T last() { return window[D - 1]; }
+
+    std::array<T, D>& all() { return &window; }
+
+private:
+    inline void setLast(T value) { window[D - 1] = value; }
+
+    /**
+     * @brief Shift the window by `n` positions to the left leaving the last
+     * values unchanged (hard assumption, be sure to know what you're doing)
+     *
+     * @param input The input to add to the window
+     */
+    void shiftWindow(size_t n)
+    {
+        for (int i = 0; i < D - n; i++)
+        {
+            window[i] = window[i + n];
+        }
+    }
+
+    std::array<T, D> window;
+    size_t filled;
+};
+
+}  // namespace Boardcore