Add checker for penalty goalkeeper

[zsmn]

Is your feature request related to a problem? Please describe.
Sometimes the goalkeeper could be placed in a wrong position (defined by the rules). So, this checker could help to avoid problems in the match and help the human referee.

Describe the solution you'd like
A improvement at the Replacer module that checks (when a penalty occur) the position of the defender goalkeeper and check if at least one of side of the robot touch the goal line.

Additional context
None.