Fix deprecation warnings for ndim > 0 arrays becoming scalar

stonesoup/measures/state.py

@@ -485,10 +485,10 @@ def __call__(self, state1, state2):
                 inv_state2_covar = np.linalg.inv(state2.covar)
                 trace_term = np.trace(inv_state2_covar@state1.covar)
 
-                delta = state2.state_vector - state1.state_vector
-                mahalanobis_term = delta.T @ inv_state2_covar @ delta
+                delta = (state2.state_vector - state1.state_vector).ravel()
+                mahalanobis_term = np.dot(np.dot(delta, inv_state2_covar), delta)
 
-                kld = float(0.5*(log_term - n_dims + trace_term + mahalanobis_term))
+                kld = 0.5*(log_term - n_dims + trace_term + mahalanobis_term)
 
             else:
                 raise ValueError(f'The state dimensions are not compatible '

stonesoup/movable/movable.py

@@ -488,8 +488,8 @@ def _get_angle(vec: StateVector, axis: np.ndarray) -> float:
     Angle : float
         Angle, in radians, between the two vectors
     """
-    vel_norm = vec / np.linalg.norm(vec)
-    axis_norm = axis / np.linalg.norm(axis)
+    vel_norm = (vec / np.linalg.norm(vec)).ravel()
+    axis_norm = (axis / np.linalg.norm(axis)).ravel()
 
     return np.arccos(np.clip(np.dot(axis_norm, vel_norm), -1.0, 1.0))
 

stonesoup/tests/test_stitcher.py

@@ -64,8 +64,8 @@ def params():
                     np.random.uniform(-2, 2, 1)]*n_spacial_dimensions
 
     for i in range(number_of_targets):
-        number_of_segments = int(np.random.choice(range(1, max_segments), 1))
-        truthlet0_length = np.random.choice(range(max_track_start), 1)
+        number_of_segments = np.random.choice(range(1, max_segments))
+        truthlet0_length = np.random.choice(range(max_track_start))
         truthlet_lengths = np.random.choice(range(min_segment_length, max_segment_length),
                                             number_of_segments)
         disjoint_lengths = np.random.choice(range(min_disjoint_length, max_disjoint_length),