Initial work on integating cmaes.

I started integrating CMAES into Simbody. Right now, everything is in quite a mess.

My objectives with this PR are:

- [x] Get basic CMAES functionality going.
- [x] Get the existing test cases to work (Rosenbrock, Schwefel, etc.).
- [x] cmaes readpara_t settings (e.g., convergence).
- [x] Diagnostics levels and file writing
- ~~[ ] Resuming.~~
- [x] Nice documentation about CMAES in Optimizer.h, describing possible settings.
- [x] No memory leaks.
- [x] Rewrite the test using `SimTK_TEST_` macros.
- [x] Replace abs with SimTK::abs.
- [x] Incorporate @nikohansen's updates to c-cmaes (cmaes_init_final).
- [x] In doxygen, mention that the errcmaes.dat file will be written regardless of the diagnostics level.
- ~~[ ] When to throw an exception upon failure?~~

This PR is going into the `cmaes-features` branch. There's much more to come, such as threading. However, to make this work manageable, those additions will come in subsequent PR's (still into the `cmaes-feature` branch).