Add support to get link AABB from its collisions

[gabrielfpacheco]

🎉 New feature

• Closes Boundingbox on Link API #2353
• Requires
  • Add AxisAlignedBox getters for all relevant geometries sdformat#1547

Summary

This PR adds AABB support to the Link API. It computes the overall link aligned bounding box (in local and world coordinates) by merging all collision bounding boxes obtained from their geometry shapes. Plus, it adds utility functions to transform AABB coordinates and calculate mesh AABB using utilities from gz::common::Mesh.

Test it

• Checkout the appropriate gz-sim and sdformat branches
• Build these packages

$ colcon build --packages-select sdformat15 gz-sim9 --merge-install

• Run the following gz-sim9 tests:

$ ./build/gz-sim9/bin/UNIT_Util_TEST && ./build/gz-sim9/bin/INTEGRATION_link

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[gabrielfpacheco]

@iche033, @scpeters, @ahcorde. Please, let me know if extra changes are required. If not, I will create a follow-up PR to add link AABB computation to the physics system update callback.

[iche033]

@iche033, @scpeters, @ahcorde. Please, let me know if extra changes are required. If not, I will create a follow-up PR to add link AABB computation to the physics system update callback.

took a quick look at the logic for enabling and computing AxisAlignedBox in the Link class. I think overall the approach looks fine. I see that the AxisAlignedBox component is first initialized with results computed from SDF, then later the component will be updated with the value from the physics system. I'm curious to see how similar or different the two values are. If they are very different, it could be confusing to the users. We should have a test to verify that the values are similar within some reasonable tolerance.