Dijkstra's

Got dijkstra's to work and integrated it
Revert "Dijkstra's"

This reverts commit ef9ee8b90a4818693067a8c54e554c97448663ca.
Dijkstra's

Got Dijkstra's to work and implemented it.
Merge pull request #4 from Elitekross/mikeperetz-master

Mikeperetz master