title: Python Numpy Apply Rotation Matrix to each line in array
body: <p>I have a rotation matrix, and am using <code>.dot</code> to apply it to new values.
  How can I apply it to each row in a numpy array?</p>
  
  <p>Numpy array looks like:</p>
  
  <pre><code> [-0.239746 -0.290771 -0.867432]
   [-0.259033 -0.320312 -0.911133]
   [-0.188721 -0.356445 -0.889648]
   [-0.186279 -0.359619 -0.895996]
  </code></pre>
  
  <p>Want to do something like, <code>for each line in array, rotation_matrix.dot(line)</code> and add each line to new array</p>
  
  <p>Not too familiar with Numpy so I'm sure it's something pretty simple that I just can't grasp.</p>