[#1595] Implement a new pass interception algorithm

Closes #1595

See merge request main/Sumatra!1393

sumatra-commit: 1209677e78ed415486a0c4d6973a00cb6c510a7c

modules/common-bot/src/main/java/edu/tigers/sumatra/bot/params/BotMovementLimits.java

@@ -12,17 +12,17 @@ import com.sleepycat.persist.model.Persistent;
 @Persistent
 public class BotMovementLimits implements IBotMovementLimits
 {
-	private double velMax = 2;
-	private double accMax = 3;
-	private double brkMax = 6;
-	private double jerkMax = 20;
+	private double velMax = 0.1;
+	private double accMax = 0.1;
+	private double brkMax = 0.1;
+	private double jerkMax = 0.1;
 
-	private double velMaxW = 20;
-	private double accMaxW = 50;
-	private double jerkMaxW = 1000;
+	private double velMaxW = 0.1;
+	private double accMaxW = 0.1;
+	private double jerkMaxW = 0.1;
 
-	private double velMaxFast = 3;
-	private double accMaxFast = 4;
+	private double velMaxFast = 0.1;
+	private double accMaxFast = 0.1;
 
 
 	/**

modules/moduli-referee/src/main/java/edu/tigers/sumatra/referee/data/GameState.java

@@ -473,6 +473,12 @@ public class GameState
 	}
 
 
+	public boolean isFreeKickForUs()
+	{
+		return isFreeKick() && isGameStateForUs();
+	}
+
+
 	/**
 	 * @return true if this is an INDIRECT_FREE for them.
 	 */

modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/WorldFrame.java

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.sumatra.wp.data;
@@ -85,7 +85,9 @@ public class WorldFrame extends SimpleWorldFrame
 				.filter(bot -> bot.getBotId().getTeamColor() == aiTeam.getTeamColor().opposite())
 				.filter(bot -> Geometry.getFieldWBorders().isPointInShape(bot.getPos()))
 				.map(bot -> {
-					RobotInfo info = RobotInfo.stub(bot.getBotId(), bot.getTimestamp());
+					RobotInfo info = RobotInfo.stubBuilder(bot.getBotId(), bot.getTimestamp())
+							.withBotParams(bot.getRobotInfo().getBotParams())
+							.build();
 					return TrackedBot.newCopyBuilder(bot)
 							.withBotInfo(info)
 							.withState(bot.getFilteredState().orElse(bot.getBotState()))

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/FieldPanel.java

@@ -514,7 +514,7 @@ public class FieldPanel extends JPanel implements IDrawableTool
 	private void paintCoordinates(final Graphics2D g, final ETeamColor teamColor,
 			final int width, final int height, final boolean inverted)
 	{
-		int fontSize = ScalingUtil.getFontSize(EFontSize.SMALL);
+		int fontSize = ScalingUtil.getFontSize(EFontSize.LARGE);
 
 		g.setStroke(new BasicStroke());
 		g.setFont(new Font("", Font.PLAIN, fontSize));