FUNCTION SMC_Frame_Mult : BOOL
Multiplies the two frames frLhs and frRhs. The resulting frame represents the concatenation of the two transformations frDst(v) = frLhs(frRhs(v)).
In other words: frDst is the coordinate system frLhs expressed in the base coordinate system of frRhs.
Yet in other words: frDst is the transformation from coordinate system frLhs to the base coordinate system of frRhs.
InOut:
