Added some more detail to the UML diagram. Will set this up on tuesday if everyone agrees
Added ConstraintBased Base implementation
Renamed base2 to constrained_based_base. The class Base in that file should also be renamed
Renamed base.py to ros_navstack_base.py. These two implementations of Base currently have no common interface definition but should have one
Merged renaming
Forgot to add ros_navstack_base after renaming