Traversal resubmit#22

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Bonanashelby wants to merge 13 commits intomasterfrom

traversal-resubmit

Commits on Jun 9, 2017

Commits on Jun 10, 2017

Got the logic down but ran into an issue with our implementation of the priority queue.
kurtrm
committed

Commits on Jun 28, 2017

Worked on Nick's comments. Also worked on refactoring tests.
kurtrm
committed