box/lua: allow to set error cause via `prev` argument

Currently, it's only possible to set an error cause with the set_prev
method. This isn't very convenient, because one has to construct a new
error without raising it, then set its cause, and only then raise it.
To simplify this, a new argument `prev` is added to the error constructor.

Closes #9103

@TarantoolBot document
Title: Document `prev` argument to table constructor of `box.error.new`
Product: Tarantool
Since: 3.1
Root documents: https://www.tarantool.io/en/doc/latest/reference/reference_lua/box_error/new/
and https://www.tarantool.io/en/doc/latest/reference/reference_lua/box_error/error/

[Link to the design document](https://www.notion.so/tarantool/Error-subsystem-improvements-90faa0a4714b4143abaf8bed2c10b2fc?pvs=4#c72c870f24734020aae1fbf34e2b8569)