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I'm assuming you're talking about MoveGroupInterfaceImpl, since you're on Kinetic and MoveGroup was changed to MoveGroupInterface.

MoveGroupInterface uses the PImpl technique (https://en.cppreference.com/w/cpp/language/pimpl). In order to access void setReplanningDelay(double delay) you will need to to build your own MoveIt and add a function to the MoveGroupInterface which in turn calls Impl's function.

void moveit::planning_interface::MoveGroupInterface::setReplanningDelay(double delay)
{
  impl_->setReplanningDelay(delay);
}

This is taken from MoveIt's GitHub (there's a bunch of similar functions at the very end).