版权声明：版权声明：本文为博主原创文章，未经博主允许不得转载。如有错误，欢迎指出，我会及时修改 https://blog.csdn.net/yukinoai/article/details/88591797
v2.0版本：https://blog.csdn.net/yukinoai/article/details/89060211
目录
实现对偶四元数简单的符号运算，数值运算
1 创建一个包含对偶算子的单项式类
主要功能：乘法，输出
# coding: utf-8
"""
@ Time: Created on 2019.03.13\n
@ Author: yukino\n
@ Description：Create a monomial class
"""
class Monomial:
def __init__(self, coef=0, para={}, dual=False):
self.coef = coef # 系数
self.var = para.keys() # 元
self.deg = para.values() # 次数
self.para = para # 变量
self.dual = dual # 对偶符
def __mul__(self, monomial):
"""乘法运算符重载"""
if self.dual and monomial.dual is True: # 判断是否都是对偶数
return None # 如果都是返回空
else:
result = Monomial()
result.coef = self.coef
result.para = self.para.copy()
result.coef *= monomial.coef
for k, v in monomial.para.items():
if k in result.para.keys(): # 如果元存在则次数相加
result.para[k] += v
else:
result.para[k] = v # 否则在字典中添加新键值对
result.dual = self.dual or monomial.dual # 计算对偶符
return result
def multiply(self, monomial):
result = Monomial()
result.coef = self.coef
result.para = self.para.copy()
result.coef *= monomial.coef
for k, v in monomial.para.items():
if k in result.para.keys():
result.para[k] += v
else:
result.para[k] = v
return result
def __str__(self):
"""输出重载"""
self.para = dict(sorted(self.para.items(), key=lambda x: x[0]))
term = ""
if self.para == {}: # 如果只有系数
return str(self.coef) # 只返回系数
else:
for key in self.para:
if self.para[key] == 1: # 如果次数为1则不打印幂
term += " " + (str(key))
else:
term += " " + (str(key)) + "^" + str(self.para[key])
if self.coef == 1: # 如果系数为1则不打印系数
if self.dual is True:
return "@(" + term.strip() + ")"
else:
return term.strip()
elif self.coef == -1: # 如果系数为-1则只打印符号
if self.dual is True:
return "@(-" + term.strip() + ")"
else:
return "-" + term.strip()
else:
if self.dual is True:
return "@(" + str(self.coef) + term.strip() + ")"
else:
return str(self.coef) + term.strip()
'''
# test
a = Monomial(3, {'x': 2, 'y': 3, 'z': 4})
b = Monomial(-3, {'a': 5, 'y': 6, 'z': 7})
c = Monomial(9)
d = b * a
print(d)
'''
2 创建多项式类
主要功能：相加，相减，输出，化简
# coding: utf-8
"""
@ Time: Created on 2019.03.13\n
@ Author: yukino\n
@ Description：Create a polynomial class
"""
from monomial import Monomial
class Polynomial:
"""
多项式类
初始化参数：任意数量Monomial类
"""
def __init__(self, *monomial):
self.monomials = monomial # 单项式组成的元组
def __str__(self):
"""输出重载"""
term = []
if self.monomials.__len__() == 1: # 如果只有一个单项式则不打印括号
term.append(str(self.monomials[0]))
else:
for monomial in self.monomials:
if monomial not in [None]: # 如果单项式不为空
if monomial.coef < 0: # 系数小于0则加括号
term.append("(" + str(monomial) + ")")
elif monomial.coef > 0:
term.append(str(monomial))
term = ' + '.join(term)
return term
def __add__(self, polynomial):
"""加法运算符重载"""
return Polynomial(*(self.monomials + polynomial.monomials))
def __sub__(self, polynomial):
"""减法运算符重载"""
minus = []
for monomial in polynomial.monomials:
temp = Monomial()
temp.coef = -monomial.coef
temp.para = monomial.para.copy()
temp.dual = monomial.dual
minus.append(temp)
return Polynomial(* (self.monomials + tuple(minus)))
def __mul__(self, polynomial):
"""乘法运算符重载"""
mult = []
for monomialP in polynomial.monomials:
for monomialR in self.monomials:
mult.append(monomialR * monomialP)
return Polynomial(* mult)
def simplify(poly):
"""
多项式化简函数\n
Input: Polynomial Class\n
Output: Polynomial Class
"""
# 分离实部与对偶部
real = []
dual = []
for monomial in poly.monomials:
if monomial.dual is True:
dual.append(monomial)
else:
real.append(monomial)
# 简化实部
resparas = []
rescoefs = []
monomials = []
paras = [monomial.para for monomial in real]
coefs = [monomial.coef for monomial in real]
for i in range(len(paras)):
if not paras[i] in resparas:
resparas.append(paras[i])
rescoefs.append(coefs[i])
else:
rescoefs[resparas.index(paras[i])] += coefs[i]
for i in range(len(rescoefs)):
monomials.append(Monomial(rescoefs[i], resparas[i]))
# 简化对偶部
resparas = []
rescoefs = []
paras = [monomial.para for monomial in dual]
coefs = [monomial.coef for monomial in dual]
for i in range(len(paras)):
if not paras[i] in resparas:
resparas.append(paras[i])
rescoefs.append(coefs[i])
else:
rescoefs[resparas.index(paras[i])] += coefs[i]
for i in range(len(rescoefs)):
monomials.append(Monomial(rescoefs[i], resparas[i], True))
simp = Polynomial(*monomials)
return simp
'''
# test
a = Monomial(3, {'x': 2, 'y': 3, 'z': 4}, True)
b = Monomial(-3, {'a': 5, 'y': 6, 'z': 7})
c = Ploynomial(a, b)
A = Ploynomial(a)
B = Ploynomial(b)
C = A + A
x0 = symbol('x0', True)
D = simplify(C)
print(A)
print(B)
print(C)
print(D)
'''
3 创建对偶四元数类
主要功能：相加，相减，输出，化简
# coding: utf-8
"""
@ Time: Created on 2019.03.13\n
@ Author: yukino\n
@ Description：Create a dual-quaternion class
"""
from polynomial import Polynomial, simplify
from monomial import Monomial
class DualQuaternion:
"""
对偶四元数类\n
初始化参数：List[8 个 Ploynomial 类]
"""
def __init__(self, quaterlist):
"""构造函数, 1个由8个多项式类构成的列表"""
self.real = quaterlist[:4]
self.dual = quaterlist[4:]
self.all = quaterlist
def __str__(self):
"""输出重载"""
q = ['', 'i', 'j', 'k']
result = []
for i in range(4):
if self.real[i].monomials[0].coef != 0: # 如果只有系数0则不输出
result.append('(' + str(self.real[i]) + ')' + q[i])
if self.dual[i].monomials[0].coef != 0:
result.append('(' + str(self.dual[i]) + ')' + q[i])
term = ' + '.join(result)
return term
def __add__(self, dualquater):
"""对偶四元数加法重载"""
result = []
self = self.all
dualquater = dualquater.all
for i in range(8):
result.append(self[i] + dualquater[i])
return DualQuaternion(result)
def __sub__(self, dualquater):
"""对偶四元数减法重载"""
result = []
self = self.all
dualquater = dualquater.all
for i in range(8):
result.append(self[i] - dualquater[i])
return DualQuaternion(result)
def __mul__(self, dualquater):
"""对偶四元数乘法重载"""
q = self.all
p = dualquater.all
x0 = q[0]*p[0] - q[1]*p[1] - q[2]*p[2] - q[3]*p[3]
x1 = q[0]*p[1] + q[1]*p[0] + q[2]*p[3] - q[3]*p[2]
x2 = q[0]*p[2] - q[1]*p[3] + q[2]*p[0] + q[3]*p[1]
x3 = q[0]*p[3] + q[1]*p[2] - q[2]*p[1] + q[3]*p[0]
y0 = q[0]*p[4] - q[1]*p[5] - q[2]*p[6] - q[3]*p[7] + q[4]*p[0] - q[5]*p[1] - q[6]*p[2] - q[7]*p[3]
y1 = q[0]*p[5] - q[1]*p[4] - q[2]*p[7] - q[3]*p[6] + q[4]*p[1] - q[5]*p[0] - q[6]*p[3] - q[7]*p[2]
y2 = q[0]*p[6] - q[1]*p[7] - q[2]*p[4] - q[3]*p[5] + q[4]*p[2] - q[5]*p[3] - q[6]*p[0] - q[7]*p[1]
y3 = q[0]*p[7] - q[1]*p[6] - q[2]*p[5] - q[3]*p[4] + q[4]*p[3] - q[5]*p[2] - q[6]*p[1] - q[7]*p[0]
return DualQuaternion([x0, x1, x2, x3, y0, y1, y2, y3])
def toArray(self):
"""
转换为列表[字符串]格式\n
Output: List[str]
"""
return [str(i) for i in self.all]
def dualqsimp(self):
"""
对偶四元数类简化函数\n
Output: Polynomial Class
"""
result = []
for i in self.all:
result.append(simplify(i))
return DualQuaternion(result)
def symbol(sym, dual=False):
"""
符号定义函数，定义为多项式类\n
Input: str\n
Output: Polynomial Class
"""
return Polynomial(Monomial(1, {sym: 1}, dual))
def number(num, dual=False):
"""
数字定义函数，定义为多项式类\n
Input: int or float\n
Output: Polynomial Class
"""
return Polynomial(Monomial(num, dual=dual))
def symbols(*syms):
"""一次定义多个符号的函数，方便定义符号，由于使用全局变量，应谨慎使用"""
names = globals()
for sym in syms:
if sym[0] == '@':
names[sym[1:]] = Polynomial(Monomial(1, {sym[1:]: 1}, True))
else:
names[sym] = Polynomial(Monomial(1, {sym: 1}))
def quaterSym(*syms):
"""
生成对偶四元数类所需的列表参数\n
Input: 8 str, int or float\n
Output: List of Polynomial Class
"""
result = []
for i in range(4):
if isinstance(syms[i], str):
result.append(symbol(syms[i]))
else:
result.append(number(syms[i]))
for i in range(4, 8):
if isinstance(syms[i], str):
result.append(symbol(syms[i], True))
else:
result.append(number(syms[i], True))
return result
4 测试
# coding: utf-8
"""
@ Time: Created on 2019.03.13\n
@ Author: yukino\n
@ Description：For debugging programs
"""
import daulquaternion as dq
# 创建对偶四元数参数，可以是符号也可以是数字
e = dq.quaterSym('x0', 'x1', 'x2', 'x3', 'y0', 'y1', 'y2', 'y3')
g = dq.quaterSym(1, 2, 3, 4, 0, 0, 0, 0)
p = dq.quaterSym(1, -2, -3, -4, 0, 0, 0, 0)
q1 = dq.DualQuaternion(p)
q2 = dq.DualQuaternion(g)
q3 = dq.DualQuaternion(e)
q4 = q1 * q2 # 数字运算
q5 = (q2 * q2).dualqsimp()
q6 = q1 * q3 # 符号运算
print(q1)
print(q3)
print(q4.dualqsimp())
print(q5)
print(q6.dualqsimp().toArray())
结果如下：
