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Fix deprecation warnings in element-wise array comparison

Evan Goetz requested to merge evan-goetz/pydarm:element-cmp into master

There are deprecation warnings like

/builds/ethan.payne/pydarm/pydarm/actuation.py:594: DeprecationWarning: elementwise comparison failed; this will raise an error in the future.
  if np.atleast_1d(np.atleast_1d(frequencies) == np.atleast_1d(saved_freq_array)).all():

which this MR fixes

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