class_docstr: Class to denote a quaternion-orienter.
code: def q1(self):
      return self._q1
  
imports: from sympy.core.basic import Basic
  from sympy.core.sympify import sympify
  from sympy.functions.elementary.trigonometric import cos, sin
  from sympy.matrices.dense import eye, rot_axis1, rot_axis2, rot_axis3
  from sympy.matrices.immutable import ImmutableDenseMatrix
  from sympy.core.cache import cacheit
  from sympy.core.symbol import Str
  import sympy.vector
label_desc: Use image node_id 4 for calling the QuaternionOrienter obj's underlying member method code with example usage: obj.q1() and returns: self