Add behavior planner

Description

Closes #176 (closed)

Notes for Reviewer

This must be tested with other related modules including:

• #470 (closed)
• #474 (closed)
• #212 (closed)

Checklist

• Documentation was updated
• Core Implementation of the behavior planner
• Integrated with Map Provider #470 (closed)
• Integrated with Lane Planner #571 (closed)
• Integrated with Global Planner #192 (closed)
• Integrated with Parking planner #212 (closed)
• Integrated with Object Collision Detector #474 (closed)