Inertial Python interface

[ahcorde]

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

Added Inertial Python interface.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[codecov]

Codecov Report

Merging #275 (60ceeea) into ign-math6 (074aa53) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-math6     #275   +/-   ##
==========================================
  Coverage      99.41%   99.41%           
==========================================
  Files             67       67           
  Lines           6374     6374           
==========================================
  Hits            6337     6337           
  Misses            37       37           

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 074aa53...60ceeea. Read the comment docs.

[scpeters]

there were a few parts of the test commented out, so I've fixed the issues and enabled them

• scalar multiplication with a Vector3d only seems to work on the right side (Vector3d(1, 2, 3) * 0.5 is ok, but 0.5 * Vector3d(1, 2, 3) doesn't work)
• there was an object being reused in the test that was accumulating error, but it was fixed once I created a fresh copy of the object

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1