(theta)
return theta_norm
Normalize an angle theta to theta_norm so that: 0 <= theta_norm < 2 * np.pi
Normalize an angle theta to theta_norm so that: 0 <= theta_norm < 2 * np.pi
Normalize an angle theta to theta_norm so that : 0 < = theta_norm < 2 * np . pi
def normalize_angle(theta):
    """Normalize an angle theta to theta_norm so that: 0 <= theta_norm < 2 * np.pi"""
    twopi = 2 * np.pi
    
    if theta >= twopi:
        m = math.floor(theta/twopi)
        if theta/twopi - m > 0.99999:   # account for rounding errors
            m += 1        
        theta_norm = theta - m * twopi
    elif theta < 0:
        m = math.ceil(theta/twopi)
        if theta/twopi - m < -0.99999:   # account for rounding errors
            m -= 1
        theta_norm = abs(theta - m * twopi)
    else:
        theta_norm = theta
    
    return theta_norm
def normalize_angle ( theta ) : twopi = 2 * np . pi if theta >= twopi : m = math . floor ( theta / twopi ) if theta / twopi - m > 0.99999 : # account for rounding errors m += 1 theta_norm = theta - m * twopi elif theta < 0 : m = math . ceil ( theta / twopi ) if theta / twopi - m < - 0.99999 : # account for rounding errors m -= 1 theta_norm = abs ( theta - m * twopi ) else : theta_norm = theta return theta_norm