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`rxpv(`

`r`, `pv`)

[SOFA] Returns the matrix product of r-matrix

(which
must have its first two dimensions equal to 3) and pv-vector
`r`

(which must have its first two dimension equal to 2
and 3, respectively). The dimensions of `pv`

and
`r`

beyond the first two must be equal. The result has
the same dimensions as `pv`

.
`pv`