public void Multiply()
{
PoseD p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
PoseD p2 = new PoseD(new Vector3D(-4, 5, -6), QuaternionD.CreateRotationZ(-0.1));
Assert.IsTrue(Vector4D.AreNumericallyEqual(
p1.ToMatrix44D() * p2.ToMatrix44D() * new Vector4D(1, 2, 3, 1),
PoseD.Multiply(PoseD.Multiply(p1, p2), new Vector4D(1, 2, 3, 1))));
}
