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