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
Changes to ActionContext
Merge pull request #79 from deba/nitish

Nitish