update test + type check

Author: jcao-bdai

spatialmath/baseposematrix.py

@@ -1657,7 +1657,7 @@ def _op2(left, right: Self, op: Callable):  # pylint: disable=no-self-argument
         =========   ==========   ====  ================================
 
         """
-        if isinstance(right, left.__class__):
+        if right.__class__ is left.__class__:
             # class by class
             if len(left) == 1:
                 if len(right) == 1:
@@ -1684,7 +1684,10 @@ def _op2(left, right: Self, op: Callable):  # pylint: disable=no-self-argument
             else:
                 return [op(x, right) for x in left.A]
         else:
-            raise ValueError(f'Invalid type ({right.__class__}) for binary operation with {left.__class__}')
+            raise TypeError(
+                f"Invalid type ({right.__class__}) for binary operation with {left.__class__}"
+            )
+
 
 if __name__ == "__main__":
     from spatialmath import SE3, SE2, SO2

tests/test_pose3d.py

@@ -1285,10 +1285,17 @@ def test_angle(self):
                 p1a.angdist(other=p2a, metric=metric),
                 p1a.angdist(other=p2b, metric=metric),
             )
-        # angle between mismatched types
-        with self.assertRaises(ValueError):
+        # not allowing angdist between mismatched types
+        with self.assertRaises(TypeError):
             _ = r1.angdist(p1a)
 
+        # in general, the _op2 interface allows same type only
+        with self.assertRaises(TypeError):
+            _ = r1._op2(right=p1a, op=r1.angdist)
+
+        with self.assertRaises(TypeError):
+            _ = p1a._op2(right=r1, op=p1a.angdist)
+
     def test_functions(self):
         # inv
         # .T