less bad defense wall

[PhiBabin]

The defense wall normally can not go closer to the goal area than the smallest circle that fit the goal area. There are various locations where the ball is outside the goal area, but not protected by the defense wall.

• Now the defense wall will go along the side of the goal area. There are two cases: either the robots can go along a vertical/horizontal line or they follow the smallest circle that fit the goal area
• Goalkeeper does not need to clear the ball if it's outside the goal area
• Fix a bug in defense wall where the player would go back and forth between position for pass and align to defense wall
• Fix bug where not assigned role would be part of the defense wall

The code still need a bit of refactoring.

[PhiBabin]

Il y a encore une gros problème irl, les robots du mur ont tendance à essayer de ce contourné constament. Cela n'est pas causé par cette PR, ce comportement était là avant.