Map Structure Overhaul

[joydeep-b]

The current navigation map structure is the same as the low-level planning domain entity used for A*. We need to move to a cleaner navigation map structure that:

1. Separates out graph definition from low-level domain implementation used by A*. The low-level format can be derived from the higher-level format
2. Includes meta-information (e.g. max speed per edge) only at the high-level representation
3. Includes support for semantic locations and areas separate from navigation vertices.

Request for comment: @kvsikand @mandi1267 @srabiee @maxsvetlik