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Fall through error in the binary operator for BasePoseMatrix #116
Description
Fall through error in the binary operator for BasePoseMatrix:
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. This should probably raise an error as opposed to returning None.
import numpy as np
from spatialmath import SE3, SO3
T0 = SE3()
print(T0.angdist(SO3()))
Could be fixed with closing else in BasePoseMatrix._op2
else:
raise ValueError(f'Invalid type ({right.__class__}) for binary operation with {left.__class__}')
Activity
jcao-bdai commentedon Jan 5, 2024
Thank you for noticing this, @bokorn-bdaii
i see you have a PR up with this fix but it also exposed the fact that we did not have test coverage for this logic - do you mind if I push a commit with just a unit test onto your branch?
bokorn-bdaii commentedon Jan 5, 2024
Ya, of course. Feel free to push a unit test in.
jcao-bdai commentedon Jan 5, 2024
@bokorn-bdaii pushed. thanks! 🤞
will approve as soon as the workflow completes. thanks again for fixing this issue.
jcao-bdai commentedon Jan 10, 2024
@bokorn-bdaii your PR fixing this issue has been merged: #117
Fixed fall through error in binary operation (#117)