Fix ball placement pos on very small fields

When the field is very small, the placement pos may be outside of the field, as placement offsets of the penArea are larger than the field size.
Now, the field size is preferred.

For better placement positions, the geometry config needs to be adapted.

Author: g3force

internal/app/statemachine/placementPos.go

@@ -1,11 +1,12 @@
 package statemachine
 
 import (
+	"log"
+	"math"
+
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/config"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
-	"log"
-	"math"
 )
 
 type BallPlacementPosDeterminer struct {
@@ -228,8 +229,12 @@ func (s *BallPlacementPosDeterminer) validateLocation(location *geom.Vector2) *g
 		return s.CurrentPlacementPos
 	}
 
+	// first move the location into the field, then out of defense area and again into the field
+	// movePositionOutOfDefenseArea assumes the ball is inside the field.
+	// But for very small fields, the ball may be outside the field after applying the placement offsets.
 	s.movePositionInsideField(location)
 	s.movePositionOutOfDefenseArea(location)
+	s.movePositionInsideField(location)
 
 	return location
 }