code: def _compute_angular_rate(rotvecs, rotvecs_dot):
      """Compute angular rates given rotation vectors and its derivatives.
  
      Parameters
      ----------
      rotvecs : ndarray, shape (n, 3)
          Set of rotation vectors.
      rotvecs_dot : ndarray, shape (n, 3)
          Set of rotation vector derivatives.
  
      Returns
      -------
      ndarray, shape (n, 3)
      """
      return _matrix_vector_product_of_stacks(
          _rotvec_dot_to_angular_rate_matrix(rotvecs), rotvecs_dot
      )
  
file_path: scipy/scipy/spatial/transform/_rotation_spline.py
imports: import numpy
  from scipy.linalg import solve_banded
  from ._rotation import Rotation
label_desc: Use image node_id 6 for calling a global function with example usage: _compute_angular_rate(rotvecs, rotvecs_dot) and returns: _matrix_vector_product_of_stacks