docs: public double alignOrientation(double baseOrientation, double orientation) {
          double resultOrientation;
          if (baseOrientation >= 0) {
              if (orientation < -Math.PI + baseOrientation)
                  resultOrientation = orientation + 2 * Math.PI;
              else
                  resultOrientation = orientation;
  
          } else if (orientation > +Math.PI + baseOrientation)
              resultOrientation = orientation - 2 * Math.PI;
          else
              resultOrientation = orientation;
          return resultOrientation;
      }