/// <summary>
/// Multiply two quaternions.
/// Instance represents: Left quaternion.
/// </summary>
/// <param name="quaternionRight">Right quaternion.</param>
/// <returns>Product of the input quaternions.</returns>
public HQuaternion QuatCompose(HQuaternion quaternionRight)
{
IntPtr proc = HalconAPI.PreCall(232);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)quaternionRight);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HalconAPI.UnpinTuple((HTuple)((HData)quaternionRight));
HQuaternion hquaternion;
int procResult = HQuaternion.LoadNew(proc, 0, err, out hquaternion);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hquaternion);
}
/// <summary>Create a dual quaternion from two quaternions </summary>
public HDualQuaternion(HQuaternion quat1, HQuaternion quat2)
: base(quat1.RawData.TupleConcat(quat2.RawData))
{
}
internal static int LoadNew(IntPtr proc, int parIndex, int err, out HQuaternion obj)
{
return(HQuaternion.LoadNew(proc, parIndex, HTupleType.MIXED, err, out obj));
}