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Explicit refactor (#129)

* started work on a refactored RungeKutta phase to replace the ExplicitPhase

* state predictor passes compute and derivs for n-dimensional inputs

* runge kutta segment k comp passes tests.

* phase-wide state advance comp completed and passing scalar test

* phase-wide k comp for RungeKuttaPhase passes tests.

* work on state prediction comp for runge kutta phases.

* checkpoint

* state predict comp works for scalar and vector states but not matrix states.

* state prediction component is fully vectorized and passes all tests.

* generalized TimeComp so that it takes properties from GridData, but not GridData itself.  GridData objects are specific to the pseudospectral phase types.

* generalized time comp so it is not dependent on grid_data and can be used by other phases for which the grid data is not relevant.

* runge-kutta continuity component passes scalar tests.

* continuity iteration group working, more tests needed

* more thorough testing of continuity iter group.  changed default solver to newton since it currently uses an implicit component.

* RungeKuttaPhase work
- Supports timeseries outputs, outputs are provided at segement ends.
- Added final ODE system to evaluate all outputs of ODE at accepted state values.
- RungeKuttaPhase now uses grid_data, with subset 'all' referring to all times of state prediction in the method.

* RungeKuttaPhase supports option direction="forward|backward" to control integration direction.

* fixed derivatives for rk timeseries component.  rk timeseries for time_phase now connected to the correct source.

* added controls to RK phase.  Propagates correctly but cannot solve a BVP yet.

* RK4 solving brachistochrone successfully.

* fixed issue with RK4 control rate interpolation

* added backwards shooting brachistochrone example/test

* fixed control interpolation for all but simulation phase.  path constraints for RKPhases are now t... (continued)

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Source Files on job 322.2 (PY=3.6 UPLOAD_DOCS=1)