Merge pull request #74 from deba/nitish

pulling ActionContext updates
Merge pull request #75 from deba/komal

Komal
Merge pull request #76 from deba/milind

Milind
Merge pull request #77 from deba/kiran

Kiran
the method and parameter added for calculating the distance from current
passed location
added the id parameter for all descriptor
Merge pull request #78 from deba/mahesh

Mahesh