[sample/SampleRobot/samplerobot_auto_balancer.py] set acceptable erro…

…r between reference and actual default_zmp_offsets
snozawa · Sep 1, 2015 · 1f83310 · 1f83310
1 parent ebb7459
commit 1f83310
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/sample/SampleRobot/samplerobot_auto_balancer.py b/sample/SampleRobot/samplerobot_auto_balancer.py
@@ -81,7 +81,7 @@ def demoAutoBalancerSetParam():
  hcf.startAutoBalancer();
  hcf.stopAutoBalancer();
  ret=hcf.abc_svc.getAutoBalancerParam()
- flag = (ret[0] and ret[1].default_zmp_offsets == abcp.default_zmp_offsets)
+ flag = (ret[0] and all([numpy.allclose(act, ref, 1e-6) for act, ref in zip(ret[1].default_zmp_offsets, abcp.default_zmp_offsets)]))
  if flag:
  print >> sys.stderr, " setAutoBalancerParam() => OK"
  assert (flag), (ret[0], ret[1].default_zmp_offsets, abcp.default_zmp_offsets)