updates based on review comments

Author: jcao-bdai

spatialmath/baseposematrix.py

@@ -1657,7 +1657,7 @@ def _op2(left, right: Self, op: Callable):  # pylint: disable=no-self-argument
         =========   ==========   ====  ================================
 
         """
-        if right.__class__ is left.__class__:
+        if isinstance(right, left.__class__) or isinstance(left, right.__class__):
             # class by class
             if len(left) == 1:
                 if len(right) == 1:

tests/test_pose3d.py

@@ -1286,14 +1286,14 @@ def test_angle(self):
                 p1a.angdist(other=p2b, metric=metric),
             )
         # not allowing angdist between mismatched types
-        with self.assertRaises(TypeError):
+        with self.assertRaises(ValueError):
             _ = r1.angdist(p1a)
 
         # in general, the _op2 interface allows same type only
-        with self.assertRaises(TypeError):
+        with self.assertRaises(ValueError):
             _ = r1._op2(right=p1a, op=r1.angdist)
 
-        with self.assertRaises(TypeError):
+        with self.assertRaises(ValueError):
             _ = p1a._op2(right=r1, op=p1a.angdist)
 
     def test_functions(self):