This cleans up the interface for choose_plan() as it is not depending
on setting join->emb_sj_nest.

choose_plan() now sets up join->emb_sj_nest and join->allowed_tables before
calling optimize_straight_join() and best_extension_by_limited_search().

Other things:
- Converted some 'if' to DBUG_ASSERT() as these should always be true.
- Calculate 'allowed_tables' in choose_plan() as this never changes in
  the childs.
- Added assert to check that next_emb->nested_join->n_tables doesn't
  get to a wrong value.
- Documented some variables in sql_select.h