Sacher driver update
pattern search update

implemented mesh adaptive direct search algorithm with dynamic scaling
according to the recent paper by Audet et al, just for fun. Also allows
for incomplete polling steps, i.e. move immediately upon success versus
moving only after exhausting the poll locations. Seems to converge in
about ~80 fevals instead of ~140 in dynamic scaling mads.
Added a repeated plotting "focus" function

Helps with alignment.