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)))); }