Fix map angle at opponent back line (e.g. for corner kicks)

Author: Flova

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py

@@ -165,8 +165,12 @@ def get_ball_goal(self, target: BallGoalType, distance: float) -> PoseStamped:
 
             ball_x, ball_y = self._blackboard.world_model.get_ball_position_xy()
 
+            # Play in any part of the opponents goal, not just the center
             if abs(ball_y) < self._blackboard.world_model.goal_width / 2:
                 goal_angle = 0
+            # Play in the opposite direction if the ball is near the opponent goal backline
+            elif ball_x > self._blackboard.world_model.field_length / 2 - 0.2:
+                goal_angle = math.pi + np.copysign(math.pi / 4, ball_y)
 
             goal_x = ball_x - math.cos(goal_angle) * distance
             goal_y = ball_y - math.sin(goal_angle) * distance