Refactor lane pose calculation

[hakuturu583]

Is your feature request related to a problem? Please describe.
Currently, different processes are performed inside EntityManager and in various other places, resulting in a very difficult structure.
This needs to be corrected in the future to improve maintainability by clarifying the module responsible for calculating the pose in the Lane coordinate system.

Describe the solution you'd like
Enable spawning by specifying MapPose/LaneletPose in the constructor of each Entity, and make it possible to calculate laneletpose inside EntityManager.