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`trxp(`

`r`, `p`)

[SOFA] Multiply p-vector

(which must have its first
dimension equal to 3) by the transpose of r-matrix `p`

(which must have its first two dimensions equal to 3). The dimensions
of `r`

beyond the first two must be the same as the
dimensions of `r`

beyond the first one. The result has the
same dimensions as `p`

.
`p`