added auto option decomposition in Q-learning/Sarsa.

Also fixed a bug in Value Iteration that makes its updates theoretically
sound when using options in deterministic MDPs. It is not currently
theoretically sound for options in stochastic MDPs, I'll be fixing that
later.
Fixed bug so that VI and other Bellman update planners can work with
options in stochastic domains. This required adding additional
functionality to options so that they could automatically compute the
expected transitions and rewards of an option.

Also fixed minor bugs and added a domain for the creation of stochastic
graph-based domains.
Merge remote-tracking branch 'origin/james' into Tenji