Added a test case for multi-input constraints and costs.
Added a test case for multi-input constraints and costs.

astrorog/drake,edowson/drake,billhoffman/drake,hanssusilo/drake,manuelli/drake,scottviteri/drake,hanssusilo/drake,scottviteri/drake,scottviteri/drake,scottviteri/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,edowson/drake,tkoolen/drake,hanssusilo/drake,astrorog/drake,scottviteri/drake,edowson/drake,crogers3/drake,tkoolen/drake,thientu/drake,billhoffman/drake,scottviteri/drake,billhoffman/drake,thientu/drake,scottviteri/drake,hanssusilo/drake,edowson/drake,billhoffman/drake,sheim/drake,crogers3/drake,crogers3/drake,sheim/drake,psiorx/drake,edowson/drake,astrorog/drake,psiorx/drake,edowson/drake,hanssusilo/drake,thientu/drake,manuelli/drake,thientu/drake,tkoolen/drake,edowson/drake,manuelli/drake,manuelli/drake,crogers3/drake,psiorx/drake,astrorog/drake,crogers3/drake,sheim/drake,tkoolen/drake,sheim/drake,crogers3/drake,sheim/drake,tkoolen/drake,hanssusilo/drake,psiorx/drake,billhoffman/drake,manuelli/drake,psiorx/drake,astrorog/drake,thientu/drake,psiorx/drake,psiorx/drake,tkoolen/drake,sheim/drake,hanssusilo/drake,psiorx/drake,edowson/drake,astrorog/drake,billhoffman/drake,hanssusilo/drake,crogers3/drake,manuelli/drake,tkoolen/drake,thientu/drake,manuelli/drake,astrorog/drake,thientu/drake,crogers3/drake