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15.5.516 rxpv

rxpv(r, pv)

[SOFA] Returns the matrix product of r-matrix r (which must have its first two dimensions equal to 3) and pv-vector pv (which must have its first two dimension equal to 2 and 3, respectively). The dimensions of r and pv beyond the first two must be equal. The result has the same dimensions as pv.