43 lines
908 B
Python
43 lines
908 B
Python
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import numpy as np
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import quaternion
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# Create a quaternion: 1 + 2i + 3j + 4k
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q1 = np.quaternion(1, 2, 0, 0)
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q2 = np.quaternion(2, 1, 0, 0)
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print(f"Quaternion q1:{q1} q2:{q2}")
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mq = q1 * q2
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print("Quaternion mq:", mq)
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q1 = np.quaternion(1, 1, 0, 0)
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q2 = np.quaternion(2, 0, 1, 0)
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print(f"Quaternion q1:{q1} q2:{q2}")
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mq = q1 * q2
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print("Quaternion mq:", mq)
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q3 = np.quaternion(1,1,0,0)
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q4 = 1/q3
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print(f"Quaternion q3:{q3} q4:{q4}")
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q5 = np.quaternion(0,1,1,0)
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q6 = 1/q5
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print(f"Quaternion q5:{q5} q6:{q6}")
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# Rotation quaternion (example: 90-degree rotation around the z-axis)
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angle = np.pi / 2 # 90 degrees in radians
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rotation_q = np.quaternion(np.cos(angle / 2), 0, 0, np.sin(angle / 2))
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q7 = np.quaternion(0,1,2,3)
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q8 = rotation_q * q7
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q9 = q8 * rotation_q.conj()
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print(f"q7:{q7}\nq8:{q8}\nq9:{q9}")
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q10 = rotation_q * q7 * rotation_q.conj() # rotate in one line
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print(f" q10 {q10} ")
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