[multibody] Throw if CalcSpatialInertia frame is not in the plant

[castor639]

Validate that frame_F belongs to this MultibodyTree before computing spatial inertia, so an unowned FixedOffsetFrame throws instead of segfaulting.

Fixes #22636.

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This change is 

[SeanCurtis-TRI]

+(release notes: fix) +a:@SeanCurtis-TRI

[SeanCurtis-TRI]

+(status: single reviewer ok)

@SeanCurtis-TRI reviewed 3 files and all commit messages, and made 1 comment.
Reviewable status: complete! all discussions resolved, LGTM from assignee SeanCurtis-TRI(platform) (waiting on castor639).

[SeanCurtis-TRI]

@drake-jenkins-bot test this please

[SeanCurtis-TRI]

@SeanCurtis-TRI made 1 comment.
Reviewable status: 1 unresolved discussion (waiting on castor639).

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multibody/plant/multibody_plant.h line 4165 at r1 (raw file):

  /// @param[in] context Contains the configuration of the set S of bodies.
  /// @param[in] frame_F specifies the about-point Fo (frame_F's origin) and
  ///  the expressed-in frame for the returned spatial inertia.

nit: CI is failling because this change to the header requires a rebuild of drake docs:

bazel run //bindings/generated_docstrings:regenerate

Then include the changed file in this commit.

[SeanCurtis-TRI]

@SeanCurtis-TRI reviewed 1 file and all commit messages.
Reviewable status: 1 unresolved discussion, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on castor639).

[SeanCurtis-TRI]

@drake-jenkins-bot retest this please

[SeanCurtis-TRI]

CI Failure in //multibody/plant:fused_welds_test. That body was not expecting the newly introduced throw. The FusedTest.CompositeSpatialInertia test needs to be updated.

@SeanCurtis-TRI made 2 comments.
Reviewable status: 2 unresolved discussions, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on castor639).

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multibody/plant/test/multibody_plant_momentum_energy_test.cc line 340 at r2 (raw file):

      "CalcSpatialInertia\\(\\): contains a repeated BodyIndex.*");

  // Verify an exception is thrown if frame_F was never added to the plant

nit: Failure based on introduction of lint on this file. FIx via:

bazel-bin/tools/lint/clang-format -style=file -i multibody/plant/test/multibody\_plant\_momentum\_energy\_test.cc