Improve defense against chipped balls

[itsarune]

Description of the task

RiOne (at RoboCup 2024) often were able to chip over our robots and get into a good scoring robots near our net. We don't defend against these chips well. This task involves improving our defense against these types of threats.

Your task:

1. Improve getAllEnemyThreats() to handle the possibility that a robot can perform chipped passes. In particular, it seems that getNumPassesToRobot assumes that the enemy team can only do ground passes.
2. Add tests to defense_play_test.py and enemy_free_kick_play_test.py to test chipped pass possibilities and validate that there are defenders around those threats

Acceptance criteria

• Improve chip pass handling defensive logic in getAllEnemyThreats()
• Supplement tests in enemy_threat_test.cpp, defense_play_test.py and enemy_free_kick_play_test.py for the new logic you added

Blocked By