perf(freespace_planning_algorithms): update the astar search algorithm

[4swinv]

Description

Update to astar search algorithm to improve path.
Ability to choose different search configurations.
Refer to PR: autowarefoundation/autoware.universe#6526

Tests performed

Refer: autowarefoundation/autoware.universe#6526

Effects on system behavior

Better path with processing time trade off.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.