Introduces dataclasses for configuration files for the planners.
The yaml files are parsed in the PlannerRegistry.create_planner function.
That isolates the parsing and abstracts the planners.
Also, it removes several setter functions from the planner.
Introduces dataclasses for configuration files for the planners. The yaml files are parsed in the PlannerRegistry.create_planner function. That isolates the parsing and abstracts the planners. Also, it removes several setter functions from the planner.