chore(freespace_planning_algorithm): modify A* script for standalone running (#7070)

* modify astar for standalone running
move clearNoe() from setMap to makePlan().

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

* small modification

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

* run pre-commit

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

---------

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
Co-authored-by: Takumi Ito <takumi.ito@tier4.jp>

Author: TakumIto

planning/autoware_freespace_planning_algorithms/src/astar_search.cpp

@@ -131,10 +131,7 @@ void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap)
 {
   AbstractPlanningAlgorithm::setMap(costmap);
 
-  clearNodes();
-
   x_scale_ = costmap_.info.height;
-  graph_.reserve(100000);
 }
 
 bool AstarSearch::makePlan(
@@ -143,6 +140,9 @@ bool AstarSearch::makePlan(
   start_pose_ = global2local(costmap_, start_pose);
   goal_pose_ = global2local(costmap_, goal_pose);
 
+  clearNodes();
+  graph_.reserve(100000);
+
   if (!setStartNode()) {
     return false;
   }