refactor(start_planner): calculate drivable lanes efficiently

[kyoichi-sugahara]

Description

drivable_lanes is calculated when shift path is planned every times.
But drivable_lanes is identical to the current pose so calculate them outside of ShiftPullOut one time.

another motivation for the change is to visualize expanded drivable lanes for debug reason

Tests performed

test with psim

Effects on system behavior

Not applicable.

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[kosuke55]

LGTM!

[codecov]

Codecov Report

Attention: 24 lines in your changes are missing coverage. Please review.

Comparison is base (c2de78d) 14.60% compared to head (61a0851) 14.60%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
..._start_planner_module/src/start_planner_module.cpp	0.00%	20 Missing ⚠️
...avior_path_start_planner_module/shift_pull_out.hpp	0.00%	2 Missing ⚠️
...r_path_start_planner_module/src/shift_pull_out.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6105      +/-   ##
==========================================
- Coverage   14.60%   14.60%   -0.01%     
==========================================
  Files        1860     1860              
  Lines      127325   127338      +13     
  Branches    37276    37276              
==========================================
  Hits        18598    18598              
- Misses      87810    87823      +13     
  Partials    20917    20917              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.60% <ø> (+<0.01%)	⬆️	Carriedforward from c2de78d

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