Goal orientation switches to straight shot despite goal post being in the way

[MegaIng]

Summary

When trying to shoot a goal the robot does a straight shot instead of an angle one. This means the ball hits the goal post and doesn't go into the goal despite such a shot being easily possible.

Expected behavior

Do an angle shot to avoid the goal post.

Current behavior

Does a straight shot while the ball is position straight in front of the pole.

Steps to Reproduce

1. Get the robot into a playing game state.
2. Position the ball in front of either of the posts such that the midpoint of the ball is inside the bounds defined by the midpoints of the goal posts.
3. Let the robot take a shot.
4. The ball hits the post and doesn't make it into the goal.

Possible Solution

Presumably this is caused by the algorithm checking if the ball is between the insides of the midpoints of the posts, not taking into account the physical extend of the posts. This could be fixed by either narrowing the area of the goal to match the insides of the posts or to take into account the physical extend.