title: Efficiently rotate a set of points with a rotation matrix in numpy
body: <p>I have a list of 3D points stored in numpy array <code>A</code> with shape <code>(N,3)</code> and a rotation matrix <code>R</code> with shape <code>(3,3)</code>. I'd like to compute the dot product of <code>R.x</code> for each point <code>x</code> in <code>A</code> in-place. Naively I can do this:</p>
  
  <pre><code>for n in xrange(N):
      A[n,:] = dot(R, A[n,:]) 
  </code></pre>
  
  <p>Is there a way to vectorize this with a native numpy call? If it matters, N is on order of a couple thousand. </p>