feat(freespace_planning_algorithm): update freespace planner params

[mkquda]

Description

Modified parameters for freespace planner (as well as goal planner and start planner) corresponding to the changes implemented in the following PR's:

• refactor(freespace_planning_algorithm): refactor and improve astar search autoware.universe#8068
• feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning autoware.universe#8089
• feat(freespace_planning_algorithms): implement option for backward search from goal to start autoware.universe#8091

(Note: merge with or after above PR's)

Tests performed

Tested on psim.

Effects on system behavior

more configuration options for A star planner:

• can configure search method (backward or forward)
• can tune cost for curvature
• can tune cost for smoothness
• can tune cost for distance to obstacles
• can configure expansion distance value, and set to adaptive

Interface changes

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.