Converted trapezoid_profile over to monotonic_clock
This also involves updating all the callers, and updating
control_loop's frequency variable.
Change-Id: Ic88d2715db30efcc25721da2dd8c89910ede7788
diff --git a/aos/common/util/trapezoid_profile.h b/aos/common/util/trapezoid_profile.h
index fe63352..cc91db1 100644
--- a/aos/common/util/trapezoid_profile.h
+++ b/aos/common/util/trapezoid_profile.h
@@ -17,7 +17,7 @@
class TrapezoidProfile {
public:
// delta_time is how long between each call to Update.
- TrapezoidProfile(const time::Time &delta_time);
+ TrapezoidProfile(::std::chrono::nanoseconds delta_time);
// Updates the state.
const Eigen::Matrix<double, 2, 1> &Update(double goal_position,
@@ -58,7 +58,7 @@
double maximum_velocity_;
// How long between calls to Update.
- const time::Time timestep_;
+ ::std::chrono::nanoseconds timestep_;
DISALLOW_COPY_AND_ASSIGN(TrapezoidProfile);
};