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added nelder-mead simplex algorithm (in preparation for re-implementing subplex, and possibly recent provably convergent variants of nelder-meade)

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default to COBYLA rather than subplex for local searches, since the latter doesn't handle bound constraints well

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check bounds in testopt, fix bug in NEWUOA_BOUNDS that allowed it to go outside of the bounds in one case

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first start at replacing original newuoa routines with nlopt versions that will allow bound constraints

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more verbose output from MMA; more paranoia required in feasibility check because feasibility constraints may be violated by rounding errors

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added nlopt_minimize_c function for constrained minimization (only via MMA for now); MMA now passes very simple test cases for constrained optimization

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