Bugfix: Resolving Inertial Pose in Collision::CalculateInertial()

[jasmeet0915]

🦟 Bug fix

Summary

This PR fixes the resolving of inertial pose in Collision::CalculateInertial() by adding the calculated inertial pose returned from Geometry::CalculateInertial() to the pose of the collision.

Also shifted the this->dataPtr->sdf based check for loading the <auto_inertia_params> element from Collision::CalculateInertial() to Collision::Load(). This would allow users to programmatically create collisions and call CalculateInertial() function on them.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
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• All tests passed (See test coverage)
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[azeey]

Using notation from http://sdformat.org/tutorials?tut=specify_pose&cat=specification&
X_LI: Pose of the inertial I relative to the link L .
X_LC: Pose of the collision relative to L
X_CG: Pose of the inertial returned by the auto MOI calculator, which we take as being relative to the collision

Since we want _inertial to be in frame L, we would want

X_LG = X_LC * L_CG and X_LG = X_LI`.

So, I think the terms are swapped. What do you think?

[jasmeet0915]

Oh yeah that makes sense. I have swapped the terms in ca09b95

[codecov]

Codecov Report

Merging #1317 (73ad771) into sdf14 (1455c69) will not change coverage.
The diff coverage is 100.00%.

❗ Current head 73ad771 differs from pull request most recent head 36ce065. Consider uploading reports for the commit 36ce065 to get more accurate results

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Files Changed	Coverage Δ
src/Collision.cc	98.26% <100.00%> (ø)