Add static typing support for QArray

[tungalbert99]

I have some existing edits for how to support type checking with QArray which I think will be useful for developers. Small edits were also made to have the properties return floats

There might be some formatting fixes that I've triggered as a result of auto-formatting but willing to revert those if you find it not useful.

Example with a pyright checker showing no errors:

[moble]

I appreciate the effort, but I think this can't work, because float isn't the only dtype that can be used here — which is the whole reason for this awkward factory function that contains QArray. That factory function can be called multiple times with different dtypes.

For example, I have found it very useful to be able to just use sympy variables as quaternion components, which allows me to expand and simplify expressions. This means I can be absolutely sure that the symbolic expressions I get really use all the same conventions and the exact same form as the numerical results I get.

Now, there are obviously lots of very low-level tricks going on in this package. But I really don't spend any time at all on typing, so I don't know if there other tricks that could be used to allow typing to work. I'm open to the possibilities, but this PR will have to be rethought.

[tungalbert99]

This might require a larger re-design that separates the implementations or return types of different dtypes with subtype polymorphism. For example, if you use sympy variables as quaternion components, you should be expected to return a certain set of sympy types.

Because Python's limitations as a non-compiled language, static typing is unfortunately the only way to do typing and I personally find typing very useful to catch bugs before runtime :)