Refactored the participant to query the p_type

#3746
Refactored based on the participant's mother p_type. 

#3746
Renamed the p_type method to is_p_type_15 

#3746
Merge remote branch 'origin/bug_3746' into develop
Merge branch 'develop' of ssh://github.com/NUBIC/ncs_navigator_core into develop