Added in some more goals checks, not sure if they wor correctly
Added three extra throwout checks to the goal detector
	Checking the angle between the goals and the horizon
	Checking the angle between the goal lines
	Checking the angle between goals that make a /¯\ shape
Added goal detector kinematics, and removed the vertical lines (since i'm not sure we will use them)
Added small todo
Merge branch 'feature/BetterGoalDetector' into develop