ocprt now automatically gets an rtIntegrator made for it
implement OcpRT.shiftStatesControls (uses final control action and just integrates forward)
ocprt {x,u,output}Names now functions, not fields
allow offset in ocprt plotting
ocprt step plot now done by hand
ocprt now logs outputs even at the final step (but it's nan if it's a function of u), this fixes plotting offset
Mhe and mheRT classes updated