Well the fact that were talking about anime battle,means that there will be a winner,in this case probably Kamina,not because he is better or something,just because almost every anime battle wining rule is on his side if you think about it.Interesting pairing nonethless.
BRS have infinite possibilities on her own, Kamina needs Gurren Lagann to utilize his infinity. THEREFORE, in a hand to hand combat fight i would argue BRS will win, no doubts!