Update for robot/util clean-up in AIKIDO.

[sniyaz]

As part of personalrobotics/aikido#588, we killed both

1. CRRT functionality
2. The planning methods in robot/util

This PR removes the former methods from libada so we still build, and calls snap planner directly to handle the latter in executePreshape().

Testing: I've tested this in sim using both feeding_demo and simple_trajectories from ada_demos, and all seems well.

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[egordon]

LGTM, bonus is that these functions were basically never used in the current feeding demo, so I'm not that concerned.

[egordon]

Hard to comment on this part, as I haven't used a DART planner directly before. With that said, we use this function basically never in the current feeding demo, so I'm okay letting it through.

But eventually this should be a call in the new Robot class, right? If so, then this is fine for now. If not, we should consider adding a TODO, since I feel like this is functionality we should add to a Robot class derivative.