Changed Goals with an optional vertex name to accept a non-optional vertex name. We now find the relevant vertex by using the heuristic map first. Removed plan pruning from makePlan funtion, this functionality will be present in plan repairing.
Merge branch 'Release/MileStone3/feature/plan_repairing' of https://github.com/srnjcbsn/Beduin into Release/MileStone3/debug

Conflicts:
	TeamNabf/NabfAgentLogic/logic/LogicLib.fs