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Delete numpy.matrix type leftovers. #19

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As of 5757f36, the numpy.matrix type has been superseded with numpy.ndarray. The pull request deletes all obsolete code that refers to the avoidable numpy.matrix type and related numpy functions (matrix, asmatrix). Code comments has been updated accordingly.

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Please note that all commits covered by this pull request are also included in #23 Aggregated pull request.

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