请使用python编写一个用于四元数与欧拉角互相转换的类

好的，以下是用Python编写的四元数与欧拉角互相转换的类：

import math

class QuaternionAndEulerAnglesConverter:
    def __init__(self, q=None, euler=None):
        self.q = q
        self.euler = euler

    # Convert euler angles to quaternion
    def euler_to_quaternion(self):
        roll, pitch, yaw = self.euler[0], self.euler[1], self.euler[2]
        cy = math.cos(yaw * 0.5)
        sy = math.sin(yaw * 0.5)
        cr = math.cos(roll * 0.5)
        sr = math.sin(roll * 0.5)
        cp = math.cos(pitch * 0.5)
        sp = math.sin(pitch * 0.5)

        q = [0] * 4
        q[0] = cy * cr * cp + sy * sr * sp
        q[1] = cy * sr * cp - sy * cr * sp
        q[2] = cy * cr * sp + sy * sr * cp
        q[3] = sy * cr * cp - cy * sr * sp

        return q

    # Convert quaternion to euler angles
    def quaternion_to_euler(self):
        q0, q1, q2, q3 = self.q[0], self.q[1], self.q[2], self.q[3]

        # Roll (x-axis rotation)
        sinr_cosp = 2 * (q0 * q1 + q2 * q3)
        cosr_cosp = 1 - 2 * (q1 ** 2 + q2 ** 2)
        roll = math.atan2(sinr_cosp, cosr_cosp)

        # Pitch (y-axis rotation)
        sinp = 2 * (q0 * q2 - q3 * q1)
        if abs(sinp) >= 1:
            pitch = math.copysign(math.pi / 2, sinp)  # Use 90 degrees if out of range
        else:
            pitch = math.asin(sinp)

        # Yaw (z-axis rotation)
        siny_cosp = 2 * (q0 * q3 + q1 * q2)
        cosy_cosp = 1 - 2 * (q2 ** 2 + q3 ** 2)
        yaw = math.atan2(siny_cosp, cosy_cosp)

        return [roll, pitch, yaw]

其中，`q`表示四元数，`euler`表示欧拉角，`euler_to_quaternion()`方法将欧拉角转换为四元数并返回，`quaternion_to_euler()`方法将四元数转换为欧拉角并返回。