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bdaiinstitute / spatialmath-python

Create, manipulate and convert representations of position and orientation in 2D or 3D using Python
MIT License
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Fixed fall through error in binary operation #117

Closed bokorn-bdaii closed 8 months ago

bokorn-bdaii commented 8 months ago

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[bot] commented 8 months ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

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

Additional details and impacted files ```diff @@ 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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