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15.5.471 pvxpv

pvxpv(a, b)

[SOFA] Returns the outer product of two pv-vectors a and b. The parameters must have equal dimensions, of which the first one must be equal to 2 and the second one to 3. The result gets the same dimensions as the parameters.

If the position and velocity components of a and b are (ap, av) and (bp, bv), then the result is the pair of vectors (ap x bp, ap x bv + av x bp).