Fixed Collect path planner going into goal/red area when passing/stealing

[jvogt23]

Description

Describe your pull request.
This PR is to merge changes that will fix an issue with the Collect path planner that causes it to go into the red areas of the field (enemy goal). Stealing or receiving robots should now switch to SEEKING if the ball is in the red area, and they will enter "escaping obstacle" if they are in the red areas

Associated / Resolved Issue

Resolves # or ClickUp card
Resolves ClickUp 86ayq6wkp

Design Documents

Link

Steps to Test

Test Case 1: The ball rolls in then out of the enemy goal

1. Step 1 Start a match and position the ball on one side of the enemy goal.
2. Step 2 When a robot locks onto it, give it a velocity so it rolls through the red area, exiting somewhere still on the field
3. Step 3 The robots should momentarily begin SEEKING and never enter the red, following the ball after it leaves the red.
4. Step 4 Repeat all steps, except instead of rolling the ball through the red, leave it in the red. The robots should either stop or enter SEEKING without following the ball.

Expected result: See steps 3 and 4

Key Files to Review

Group 1 Planning

• File 1 collect_path_planner.hpp
• File 2 collect_path_planner.cpp

Group 2 Positions

• File 3 offense.cpp
• File 4 offense.hpp

Review Checklist

• Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing" page of our docs.
• Remove extra print statements: Any print statements used for debugging should be removed
• Tag reviewers: Tag some people for review and ping them on Slack

(Optional) Sub-issues (for drafts)

Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.

• Step 1
• Step 2