## Dot product of a time series of co-ordinates with a time series of rotation matrices

Question

I have a time series of spacecraft coordinates, which is of shape `(t,3)`

, and a time series of rotation matrices of shape `(3,3,t)`

, where *t* is the length of the time series. I want to find the dot product of the coordinates at each time *t* with the rotation matrix at each time *t*, such that I achieve an array of shape `(t,3)`

which is the rotated coordinates.

I can achieve this in a for loop by writing:

```
new_coords = np.zeros_like(input_coords)
for Ci, Vi in enumerate(input_coords):
new_coords[Ci,:] = np.tensordot(Vi, rotation[:,:,Ci], axes = 1)
```

How can I replace this for loop with a single line of Python? I've tried various permutations of `np.tensordot`

with no success.

Show source

## Answers to Dot product of a time series of co-ordinates with a time series of rotation matrices ( 1 )

You can use

`np.einsum`

-Shapes in generic format -

Two considerations were applied there -

`rotation`

with last of`input_coords`

.`rotation`

and first of`input_coords`

aligned. This is in correspondence with the way`Ci`

is used within the nested loop.