bp0 = [0 0.5 0]';
bv0 = [1.9 0.1 -0.3]';

bp1 = bp0 + 5*bv0;

Tab = [0.0722 -0.963 -0.259 -5;.954 -.00868 0.298 -6.5;-0.29 -0.269 0.919 8.0;...
    0 0 0 1];

bp1 = [bp1;1];

ap1 = Tab*bp1;