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cmd/report: code cleanup

Jameson Rollins requested to merge jameson.rollins/pydarm:mr-report-code-breakout into master

This is just a bunch of code cleanup in the report generation. MCMC, GPR, and history plotting functions are moved to their own sub-modules, code is re-arranged and cleaned up, improved comments, doc strings, etc.

Almost no functional change whatsoever (just removed one apparently unused function).

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