Add `explain` flag support to the reroute API

By specifying the `explain` flag, an explanation for the reason a
command can or cannot be executed is returned.

Returns a response similar to:

{
  "state": {...cluster state...},
  "acknowledged": true,
  "explanations" : [ {
    "command" : "cancel",
      "parameters" : {
        "index" : "decide",
        "shard" : 0,
        "node" : "IvpoKRdtRiGrQ_WKtt4_4w",
        "allow_primary" : false
      },
      "decisions" : [ {
        "decider" : "cancel_allocation_command",
        "decision" : "YES",
        "explanation" : "..."
        } ]
     }, {
      "command" : "move",
      "parameters" : {
        "index" : "decide",
        "shard" : 0,
        "from_node" : "IvpoKRdtRiGrQ_WKtt4_4w",
        "to_node" : "IvpoKRdtRiGrQ_WKtt4_4w"
       },
       "decisions" : [ {
         "decider" : "same_shard",
         "decision" : "NO",
         "explanation" : "shard cannot be allocated on same node [IvpoKRdtRiGrQ_WKtt4_4w] it already exists on"
       },
       etc
       ]
  }]
}

also removes AllocationExplanation from cluster state

Closes #2483
Closes #5169