Remove isValidState utility

[marip8]

tesseract_planning/tesseract_motion_planners/core/include/tesseract_motion_planners/planner_utils.h

Lines 72 to 93 in 9128a70

	/**
	* @brief Check if the robot is in a valid state
	* @param The robot kinematic representation
	* @param joint_values The joint values of the robot
	* @param limits The robot joint limits
	* @return True if within limits otherwise false
	*/
	template <typename FloatType>
	bool isValidState(const tesseract_kinematics::ForwardKinematics::ConstPtr& robot_kin,
	const Eigen::Ref<const Eigen::Matrix<FloatType, Eigen::Dynamic, 1>>& joint_values,
	const Eigen::Matrix<FloatType, Eigen::Dynamic, 2>& limits)
	{
	if (!tesseract_common::isWithinPositionLimits(joint_values, limits))
	return false;
	Eigen::Vector2i sign_correction = Eigen::Vector2i::Ones();
	sign_correction(0) = -1;
	RobotConfig robot_config =
	getRobotConfig<FloatType>(joint_values.tail(robot_kin->numJoints()), robot_kin, sign_correction);
	return !(robot_config != RobotConfig::FUT && robot_config != RobotConfig::NUT);
	}

I was just perusing through some of the planner utility functions and I found the one above that seems very tied to a specific robot configuration. I think we should remove this function as it could be confusing to users

[Levi-Armstrong]

I don't think it should be removed but would be good to update the documentation so it is clear when to use this utility method.