Use pose multiplication instead of subtraction

[scpeters]

🎉 New feature

Part of gz-math#60.

Summary

As noted in gz-math#60, there are concerns about the pose subtraction operator. Given that it is equivalent to multiplying by an inverse (albeit with reversed order), the subtraction operator will be deprecated. This PR replaces usage of the soon-to-be-deprecated operator with the equivalent multiplication by inverse.

Test it

Build against gazebosim/gz-math#438 and confirm that tests still pass and that there are no deprecation warnings.

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)
• 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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1521 (553d630) into main (3d0867f) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main    #1521   +/-   ##
=======================================
  Coverage   63.62%   63.62%           
=======================================
  Files         330      330           
  Lines       25784    25784           
=======================================
  Hits        16406    16406           
  Misses       9378     9378           

Impacted Files	Coverage Δ
include/gz/sim/Util.hh	100.00% <ø> (ø)
include/gz/sim/gui/GuiSystem.hh	0.00% <ø> (ø)
include/gz/sim/rendering/SceneManager.hh	100.00% <ø> (ø)
src/Server.cc	89.72% <ø> (ø)
src/Util.cc	92.53% <ø> (ø)
src/gui/plugins/modules/EntityContextMenu.cc	19.78% <ø> (ø)
src/gui/plugins/spawn/Spawn.cc	10.27% <ø> (ø)
.../gui/plugins/transform_control/TransformControl.cc	7.37% <ø> (ø)
...lization_capabilities/VisualizationCapabilities.cc	3.69% <ø> (ø)
src/rendering/MarkerManager.cc	13.02% <ø> (ø)
... and 31 more

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