Missing cassert includes

[oysstu]

The following headers are missing #include <cassert>.

include/fcl/geometry/shape/convex-inl.h
include/fcl/math/motion/taylor_model/taylor_model-inl.h

Fails to compile with GCC 15.2.1.

[jwnimmer-tri]

FYI it looks like #649 has a proposed fix for this.