www.gusucode.com > robotcore 工具箱 matlab源码程序 > robotcore/+robotics/+internal/wrapToPi.m
function theta = wrapToPi(theta) %This function is for internal use only. It may be removed in the future. %wrapToPi Wrap angle in radians to interval [-pi pi] % % THETAWRAP = wrapToPi(THETA) wraps angles in THETA to the interval % [-pi pi]. Positive, odd multiples of pi map to pi and negative, odd % multiples of pi map to -pi. % Copyright 2014-2015 The MathWorks, Inc. %#codegen piVal = cast(pi,'like',theta); theta = robotics.internal.wrapTo2Pi(theta + piVal) - piVal; end