Resolve "Redirect model for flat balls with curvature"

Closes #1642

See merge request main/Sumatra!1387

sumatra-commit: 7d947af68ff772fcc13bd1bdc39c800cad8fd583

modules/moduli-geometry/src/main/java/edu/tigers/sumatra/geometry/BallParameters.java

@@ -48,10 +48,17 @@ public class BallParameters
 
 	@Configurable(
 			comment = "Amount of spin transferred during a redirect.",
-			defValue = "0.75",
+			defValue = "0.8",
+			spezis = { "SUMATRA", "LAB", "TISCH", "ROBOCUP", "ANDRE", "NICOLAI", "SIMULATOR" }
+	)
+	private double redirectSpinFactor = 0.8;
+
+	@Configurable(
+			comment = "Restitution coefficient for redirected balls from a bot.",
+			defValue = "0.2",
 			spezis = { "SUMATRA", "LAB", "TISCH", "ROBOCUP", "ANDRE", "NICOLAI", "SIMULATOR" }
 	)
-	private double redirectSpinFactor = 0.75;
+	private double redirectRestitutionCoefficient = 0.2;
 
 	@Configurable(
 			comment = "Fixed velocity where the ball starts to roll [mm/s]",

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/kick/estimators/straight/FlatKickSolverNonLin3Factor.java

@@ -18,6 +18,7 @@ import edu.tigers.sumatra.vision.data.KickSolverResult;
 import edu.tigers.sumatra.vision.kick.estimators.EBallModelIdentType;
 import edu.tigers.sumatra.vision.kick.estimators.IBallModelIdentResult;
 import edu.tigers.sumatra.vision.kick.estimators.IKickSolver;
+import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Value;
 import org.apache.commons.math3.analysis.MultivariateFunction;
@@ -266,6 +267,7 @@ public class FlatKickSolverNonLin3Factor implements IKickSolver
 	}
 
 	@RequiredArgsConstructor
+	@Getter
 	public static class RedirectModelIdentResult implements IBallModelIdentResult
 	{
 		private final IVector3 kickVel;
@@ -335,5 +337,17 @@ public class FlatKickSolverNonLin3Factor implements IKickSolver
 					+ "in: " + Vector2.fromAngleLength(inAngle, inVel) + System.lineSeparator()
 					+ "out: " + Vector2.fromAngleLength(outAngle, outVel) + System.lineSeparator();
 		}
+
+
+		public IVector2 getInVelocity()
+		{
+			return Vector2.fromAngleLength(inAngle, inVel);
+		}
+
+
+		public IVector2 getOutVelocity()
+		{
+			return Vector2.fromAngleLength(outAngle, outVel);
+		}
 	}
 }
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