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[PN-134] Add function to convert host-relative time to robot-relative time (#286)

- Rename functions for applying clock skew to timestamps to make their purpose clearer (from applyClockSkew
  to localTimeToRobotTime).
- Add robotTimeToLocalTime function to convert host-relative time to robot-relative time.
- Move functions related to converting timestamps into a new file.
- Remove unused convertRobotTimeToLocalTime() from time sync interface. This function combined retrieving
  the clock skew from Spot with applying it to a timestamp. In practice, we want to use a specific
  previously-retrieved clock skew instead of acquiring a new one, since the clock skew could change over time
  and we want to make sure it corresponds to the timestamp we're converting, so this function wasn't used.
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Co-authored-by: Griswald Brooks <157394791+gbrooks-bdai@users.noreply.github.com>

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