cleaned up the planner + controller interface

[antoinedang]

Related Issue(s)

• Clean up issues with callbacks, face_destination, delta moves and search depth parameters in planner #237

Changes Made

• remove callback argument to controller functions in planner (never used except search where it wasnt necessary)
• fix bug with face_destination on move()'s
• replace delta moves that were used to stay in place with calls to freeze position/rotation
• rename stop_in_place to freeze_pose
• add search depth parameters in search substates
• remove old comments

Rationale/Other Solutions Considered

• dirty planner need clean

Tests Done

• @frompotenza

Required Wiki Changes (if any)

• need to update planner/controller interface

[frompotenza]

TESTS NOT DONE. WILL DO TOMORROW