四元数代码python

以下是 Python 中实现四元数的代码：

class Quaternion:
    def __init__(self, w=1.0, x=0.0, y=0.0, z=0.0):
        self.w = w
        self.x = x
        self.y = y
        self.z = z

    def __mul__(self, other):
        w = self.w * other.w - self.x * other.x - self.y * other.y - self.z * other.z
        x = self.w * other.x + self.x * other.w + self.y * other.z - self.z * other.y
        y = self.w * other.y - self.x * other.z + self.y * other.w + self.z * other.x
        z = self.w * other.z + self.x * other.y - self.y * other.x + self.z * other.w
        return Quaternion(w, x, y, z)

    def __str__(self):
        return f"{self.w} + {self.x}i + {self.y}j + {self.z}k"

其中，`w`、`x`、`y`、`z` 分别表示四元数的实部和虚部，`__mul__` 方法实现了四元数的乘法运算，`__str__` 方法用于打印四元数的值。