Fix/defence algo#119
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Share shadow-geometry helpers between goalkeeping and defender positioning. Use keeper-line and post limits adjusted for robot radius, account for ball and robot radius in defender shadows, and dynamically choose the single defender's coverage side. Update goalkeep and defend_parameter tests for standard and custom field geometry.
Use setsid for pixi main tasks so Ctrl+C is not delivered twice to the Python child. Update StrategyRunner SIGINT handling so the first interrupt requests graceful shutdown, stops the Rich FPS display, and lets cleanup send stop commands; a later interrupt still force-quits. Add regression coverage for SIGINT behavior and REAL-mode zero-velocity stop commands during shutdown.
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Design discussion: So it creates a typing error if you don't have the if statement when coding in strategy: |
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Adds updated defence positioning and goalkeeping logic, field-dimension-aware setup, and Fast Path Planning support. Also refreshes related strategy runner, simulator, and test coverage for custom field bounds and RSim/GRSim setup.