Revert "Fix issues discovered during demo. (#442)"

This reverts commit f05e40b.

include/aikido/planner/ConfigurationToConfiguration.hpp

@@ -41,10 +41,10 @@ class ConfigurationToConfiguration : public Problem
 
 protected:
   /// Start state.
-  statespace::StateSpace::ScopedState mStartState;
+  const statespace::StateSpace::State* mStartState;
 
   /// Goal state.
-  statespace::StateSpace::ScopedState mGoalState;
+  const statespace::StateSpace::State* mGoalState;
 };
 
 } // namespace planner

include/aikido/planner/ConfigurationToConfigurationPlanner.hpp

@@ -20,9 +20,11 @@ class ConfigurationToConfigurationPlanner
   // which is simply ConfigurationToConfiguration.
   using SingleProblemPlanner::plan;
 
-  /// \copydoc Planner::Planner
+  /// Constructor
+  ///
+  /// \param[in] stateSpace State space that this planner associated with.
   explicit ConfigurationToConfigurationPlanner(
-      statespace::ConstStateSpacePtr stateSpace, common::RNG* rng = nullptr);
+      statespace::ConstStateSpacePtr stateSpace);
 
   /// Solves \c problem returning the result to \c result.
   ///

include/aikido/planner/Planner.hpp

@@ -22,19 +22,14 @@ class Planner
   /// Constructs from a state space.
   ///
   /// \param[in] stateSpace State space that this planner associated with.
-  /// \param[in] rng RNG that planner uses. If nullptr, a default is created.
-  explicit Planner(
-      statespace::ConstStateSpacePtr stateSpace, common::RNG* rng = nullptr);
+  explicit Planner(statespace::ConstStateSpacePtr stateSpace);
 
   /// Default destructor.
   virtual ~Planner() = default;
 
   /// Returns const state space.
   statespace::ConstStateSpacePtr getStateSpace() const;
 
-  /// Returns RNG.
-  common::RNG* getRng();
-
   /// Returns true if this planner can solve \c problem.
   virtual bool canSolve(const Problem& problem) const = 0;
 
@@ -49,9 +44,6 @@ class Planner
 protected:
   /// State space associated with this planner.
   statespace::ConstStateSpacePtr mStateSpace;
-
-  /// RNG the planner uses.
-  std::unique_ptr<common::RNG> mRng;
 };
 
 /// Base class for planning result of various planning problems.

include/aikido/planner/SingleProblemPlanner.hpp

@@ -24,9 +24,10 @@ class SingleProblemPlanner : public Planner
 public:
   using SolvableProblem = ProblemT;
 
-  /// \copydoc Planner::Planner
-  explicit SingleProblemPlanner(
-      statespace::ConstStateSpacePtr stateSpace, common::RNG* rng = nullptr);
+  /// Constructor
+  ///
+  /// \param[in] stateSpace State space associated with this planner.
+  explicit SingleProblemPlanner(statespace::ConstStateSpacePtr stateSpace);
 
   // Documentation inherited.
   bool canSolve(const Problem& problem) const final override;

include/aikido/planner/dart/ConfigurationToConfiguration_to_ConfigurationToTSR.hpp

@@ -9,25 +9,15 @@ namespace aikido {
 namespace planner {
 namespace dart {
 
-/// Converts a non-DART ConfigurationToConfiguration planner into a DART
-/// ConfigurationToTSR planner.
 class ConfigurationToConfiguration_to_ConfigurationToTSR
-    : public PlannerAdapter<aikido::planner::
-                                ConfigurationToConfigurationPlanner,
+    : public PlannerAdapter<ConfigurationToConfigurationPlanner,
                             ConfigurationToTSRPlanner>
 {
 public:
-  /// Constructor
-  ///
-  /// \param[in] planner Non-DART ConfigurationToConfigurationPlanner planner to
-  /// convert.
-  /// \param[in] metaSkeleton MetaSkeleton for adapted planner to operate on.
   ConfigurationToConfiguration_to_ConfigurationToTSR(
-      std::shared_ptr<aikido::planner::ConfigurationToConfigurationPlanner>
-          planner,
+      std::shared_ptr<ConfigurationToConfigurationPlanner> planner,
       ::dart::dynamics::MetaSkeletonPtr metaSkeleton);
 
-  // Documentation inherited.
   virtual trajectory::TrajectoryPtr plan(
       const ConfigurationToTSR& problem, Planner::Result* result) override;
 };