Created branch for AP implementation
Revert "Created branch for AP implementation"

This reverts commit 87bfd8d6b3613e169f2999b43f04a25c03066ff6.
Implemented NavigationLibrary Abstract class to be extended by all navigation algorithms. Modified existing algorithms to extended library class. Commented code and added javadoc
Merge master into AP
Implemented NavigationLibrary Abstract class to be extended by all navigation algorithms. Modified existing algorithms to extended library class. Commented code and added javadoc