sol(Inf)
boost(as.3vel(1:3))
as.3vel(1:3) + as.3vel(c(-1,4,5))     # classical velocity addition
rot(as.3vel(1:3),as.3vel(c(-4,5,2)))  # identity matrix
B <- boost(as.3vel(1:3))
orthog(B) %*% pureboost(B)  # should be B
sol(1)
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