doesn't matter. The state can't just start taking people's kids when normally the person would be a good parent. What if the parent had just then fallen on hard times? Maybe they will only be on the street for a while, like a week or a month? You can't just swoop in and take their kid in those situtations, or ever.
parents should have certain rights. They made the kid. The kid is their family and they should have a large say in how it is raised and what happens to it. Being on the street isn't like beaing raped, beaten or flat out neglected. Taking the kid away because it's life will suck when compared to everyone else's is bullshit. Whats next? Taking poor people's kids away? Then the lower middle classes?

