Updating the regularization costs methods and how we log them

[yangwill]

Updating lcmt_osc_output.lcm so that we support any number of regularization costs. This changes the lcmtype so will break loading in old logs.

Also I changed the functions that set the regularization cost weights to be more consistent.

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This change is 

[yminchen]

I agree with Brian. We should probably have backward compatibility. The rest of the codes look good to me

[Brian-Acosta]

Approved - waiting on @yangwill to resolve conflicts