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var myApp = angular.module('myApp', []).run(function($rootScope, $location) {
    $rootScope.location = $location;
    $rootScope.getClass = function (path) {
        return ($location.path().substr(0, path.length) === path) ? 'active' : '';
    }
});

<ul class="nav navbar-nav">
    <li ng-class="getClass('/exercises')"><a href="#!/exercises/">Exercises <span class="sr-only">(current)</span></a></li>
    <li ng-class="getClass('/routine')"><a href="#!/routine/routine-list/">Routines</a></li>
    <li ng-class="getClass('/new-routine')"><a href="#!/new-routine">New Routine</a></li>
</ul>