Merge pull request #403 from xytovl/modularManeuverPlanner

Modular maneuver planner
Revert "Merge pull request #403 from xytovl/modularManeuverPlanner"

This reverts commit 28279d456a5e9351b67b8aee335285a2f52496a8, reversing
changes made to f10b429fdb0446594107c525228337fa734950fb.