Function compose 

pub fn compose<T: Number>(
    factors: &[Factor],
    pose_of: &mut PoseOf<'_, T>,
) -> Pose<T>

The pose an instance is at whose placement is factors (see placement), in T: theirs, composed outermost first, each state’s entering as pose_of has it. A value that holds no pose — a state before anything solved for it — is no motion.