Big commit this time.
 -Created "arc" directory for old code the might be useful as a reference
 -Moved NAVIGATE.h and .cpp to this directory.
 -NAVIGATE.h is now just a standard includes and macro definitions file.
 -Added all Kinect functionality to point cloud class. This should fix the
  issues I encountered, but I do not have a Kinect to test with at the
  moment.