Add reorient - should be separated out from feedback

(cherry picked from commit 8740b55b)

Move around stuff from doPreprocess in doReorient - reflect purpose of action as alertness to surroundings

(cherry picked from commit 3c914492)

(cherry picked from commit 356b5afa)

(cherry picked from commit 5317e98b)

(cherry picked from commit 1d596588)

(cherry picked from commit 81bc2246)

(cherry picked from commit da6a441f)

(cherry picked from commit 0f361781)

(cherry picked from commit f056dac5)

Move around stuff from doPreprocess in doReorient - reflect purpose of action as alertness to surroundings

Updating only documentation and .travis.yml

Merge branch 'action_chart' into add_feedback - start revisions based on exploration of defense actions