remove np.matrix

Author: AtsushiSakai

PathPlanning/VoronoiRoadMap/voronoi_road_map.py

@@ -104,14 +104,14 @@ def is_collision(sx, sy, gx, gy, rr, okdtree):
     nstep = round(d / D)
 
     for i in range(nstep):
-        idxs, dist = okdtree.search(np.matrix([x, y]).T)
+        idxs, dist = okdtree.search(np.array([x, y]).reshape(2, 1))
         if dist[0] <= rr:
             return True  # collision
         x += D * math.cos(yaw)
         y += D * math.sin(yaw)
 
     # goal point check
-    idxs, dist = okdtree.search(np.matrix([gx, gy]).T)
+    idxs, dist = okdtree.search(np.array([gx, gy]).reshape(2, 1))
     if dist[0] <= rr:
         return True  # collision
 
@@ -135,8 +135,9 @@ def generate_roadmap(sample_x, sample_y, rr, obkdtree):
     for (i, ix, iy) in zip(range(nsample), sample_x, sample_y):
 
         index, dists = skdtree.search(
-            np.matrix([ix, iy]).T, k=nsample)
-        inds = index[0][0]
+            np.array([ix, iy]).reshape(2, 1), k=nsample)
+
+        inds = index[0]
         edge_id = []
         #  print(index)