Custom Optimization Algorithms/Procedures

It would be great to be able to write our own optimization algorithms.

This way we can:
* run optimizations from "save points", ie continue optimization where I left off at some other point
* implement things like swarm optimization, gradient desent
* have custom paramaters in a robot, currently there is little flexibility in the type of paramaters that can be optimized, would be really usefull to have things such as arrays and custom classes, since in a custom optimizer I would be in controll of instantiating the robot, I can have any type of paramater.

Unless I'm missing something, it could be as simple as a class that inherits from "Optimization" and has to implement a method "NextRobot" that returns an Instance of Robot.