message: Fix goal polygon position and size
diff: @@ -67,16 +67,19 @@ def InitStateFromTrack(track, start):
  def GoalDefinitionFromTrack(track, end):
  + goal_size = 8.0
  states = list(dict_utils.get_item_iterator(track.motion_states))
  + # Goal position is spatial position of last state
  motion_state = states[-1][1]
  bark_state = BarkStateFromMotionState(motion_state)
  - goal_polygon = Polygon2d(np.array([0.0, 0.0, 0.0]),
  - [Point2d(-1.5, 0),
  - Point2d(-1.5, 8),
  - Point2d(1.5, 8),
  - Point2d(1.5, 0)])
  - goal_polygon = goal_polygon.Translate(Point2d(bark_state[0, int(StateDefinition.X_POSITION)],
  - bark_state[0, int(StateDefinition.Y_POSITION)]))
  + goal_polygon = Polygon2d(np.array([0.5 * goal_size, 0.5 * goal_size, 0.0]),
  + [Point2d(0.0, 0.0),
  + Point2d(goal_size, 0.0),
  + Point2d(goal_size, goal_size),
  + Point2d(0.0, goal_size),
  + Point2d(0.0, 0.0)])
  + goal_polygon = goal_polygon.Translate(Point2d(bark_state[0, int(StateDefinition.X_POSITION)] - 0.5 * goal_size,
  + bark_state[0, int(StateDefinition.Y_POSITION)] - 0.5 * goal_size))
  goal_definition = GoalDefinitionPolygon(goal_polygon)
  return goal_definition
  