Fixed fall through error in binary operation

[bokorn-bdaii]

Fixes fall through error in the binary operator for BasePoseMatrix described in #116:

https://github.com/bdaiinstitute/spatialmath-python/blob/1b89c49395a21b5241e2f0a233e69394f3bc27b1/spatialmath/baseposematrix.py#L1632C7-L1632C7

If you want to compare the rotation of an SE3 to an SO3, it returns None as opposed to throwing an error or returning a valid value.

import numpy as np
from spatialmath import SE3, SO3

T0 = SE3()
print(T0.angdist(SO3()))

Modified BasePoseMatrix._op2 to throw an error if the types don't match.

All tests still pass.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (1b89c49) 77.41% compared to head (c234e6c) 77.76%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #117      +/-   ##
==========================================
+ Coverage   77.41%   77.76%   +0.35%     
==========================================
  Files          24       24              
  Lines        5136     5137       +1     
==========================================
+ Hits         3976     3995      +19     
+ Misses       1160     1142      -18     

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[jcao-bdai]

LGTM. thanks for identifying the issue.

[myeatman-bdai]

Maybe take my suggested change?

[myeatman-bdai]

I'm pretty sure isinstance is better?

[jcao-bdai]

i made this change because, given the inheritance structure,

• SO3 is not an instance of SE3, but
• SE3 is an instance of SO3.

This PR seems to intend to disallow both se3.angdist(so3) and so3.angdist(se3).
Please feel free to make any change as necessary @bokorn-bdaii

[bokorn-bdaii]

We could allow angdist between those too, but I am not sure if all binary operations will work here, translation based operations being computed between SO3 and SE3. That being said, it's currently only used by angdist. Depends if you want to allow cross type binary operations and put the validity checks up to future implementers.

[bokorn-bdaii]

This is an option if we want to be able to look at angular distances between SO3 and SE3, or visa versa

Suggested change

	if right.__class__ is left.__class__:
	if isinstance(right, left.__class__) or isinstance(left, right.__class__):

[jcao-bdai]

suggestion applied in b848e7b