Compute upper & lower bounds from OptimizationProblem's bounding box.
Compute upper & lower bounds from OptimizationProblem's bounding box.

Also a bunch of temp test code.

sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake