Speedup parameter planner parameters assignment

[kanbouchou]

Summary

• In production, assignment of planner parameters takes hundreds of microsec.
• In feature, it is faster by 10x, tens of microsec.
• For some application, this difference accumulates to 1 second or more of planning time.

Production behavior

• assignment operator was loading members in derived class by serialize->deserialize with xml format.
• assignment operator was doing more than assignment, namely, it was parsing _sPostProcessingPlanner and _sPostProcessingParameters from _sExtraParameters

Feature behavior

• assignment operator(=) copies members by down casting, without going through xml string.
• parsing of _sPostProcessingPlanner and _sPostProcessingParameters are done explicitly by LoadExtraParameters

Discussion points

• _ptarget of GraspSetParameters is copied by environment body index as it is the behavior in production. Do we have a better identifier such as name or id?

Future TODO

• start using json string instead of xml.

[tgn3000]

Back then I did have a version that uses only json to assign planner parameters between derived classes.