Error referencing SageNavWalker : "not found"

If one wanted to create his own custom NavWalker based on Soil’s new navwalker module, how would one go about extending the NavWalker class found in the Soil navwalker module? Currently I am trying with the following code and it is not able to find the class:

use Roots\Soil\Nav\NavWalker;

class Custom_NavWalker extends NavWalker {

}

Results in:
Fatal error: Class ‘Roots\Soil\Nav\NavWalker’ not found in /var/www/mk/public_html/app/themes/mk/lib/nav.php on line 5

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