commit 651fc3ff0105ab373cd26121e081d7080b5780db
author James Kuszmaul <jabukuszmaul@gmail.com> Wed May 15 21:14:25 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Thu May 16 20:49:03 2019 -0700
tree 2c9e4010ac8fc3e6043a5054136e51d0eef6d218
parent f5f50dd8044247504eec5c89656caac3f8d6588a

Make a DurationInSeconds function

Also, run clang-format on all the files I changed because I am too lazy
to figure out how to call clang-format on just the lines I changed.

Change-Id: I071c6f81dced533a0a269f25a258348132a7056a

y2016/vision/target_receiver.cc

diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index 3409671..4b95034 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -10,11 +10,11 @@
 #include <thread>
 #include <vector>
 
+#include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/queue_logging.h"
 #include "aos/mutex/mutex.h"
 #include "aos/time/time.h"
-#include "aos/init.h"
 #include "aos/vision/events/udp.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
@@ -179,12 +179,11 @@
                        double angle, double last_angle,
                        ::aos::vision::Vector<2> *interpolated_result,
                        double *interpolated_angle) {
-  const double age_ratio = chrono::duration_cast<chrono::duration<double>>(
-                               older.capture_time() - newer.last_capture_time())
-                               .count() /
-                           chrono::duration_cast<chrono::duration<double>>(
-                               newer.capture_time() - newer.last_capture_time())
-                               .count();
+  const double age_ratio =
+      ::aos::time::DurationInSeconds(older.capture_time() -
+                                     newer.last_capture_time()) /
+      ::aos::time::DurationInSeconds(newer.capture_time() -
+                                     newer.last_capture_time());
   interpolated_result->Set(
       newer_center.x() * age_ratio + (1 - age_ratio) * last_newer_center.x(),
       newer_center.y() * age_ratio + (1 - age_ratio) * last_newer_center.y());
@@ -226,12 +225,9 @@
       status->drivetrain_left_position = before.left;
       status->drivetrain_right_position = before.right;
     } else {
-      const double age_ratio = chrono::duration_cast<chrono::duration<double>>(
-                                   capture_time - before.time)
-                                   .count() /
-                               chrono::duration_cast<chrono::duration<double>>(
-                                   after.time - before.time)
-                                   .count();
+      const double age_ratio =
+          ::aos::time::DurationInSeconds(capture_time - before.time) /
+          ::aos::time::DurationInSeconds(after.time - before.time);
       status->drivetrain_left_position =
           before.left * (1 - age_ratio) + after.left * age_ratio;
       status->drivetrain_right_position =