Examples

For example:

Use rad/deg conversion functions and the classic

arctan2 method to bound angles to +/- 180 degrees

import numpy as np
from math import sin, cos
from roboutils import rad2deg, deg2rad

def boundTo180(angle):

  # input: angle in degrees
  # output: bounded angle in (+/-) 180 degrees (pi radians)

  # typical condensed python-style
  return(rad2deg(np.arctan2( sin(deg2rad(angle)) ,cos(deg2rad(angle)))))

# as expected

boundTo180(179)
Out[7]: 179.0

boundTo180(180)
Out[8]: 180.0

# by keeping within 180 deg bounds (pi radians)
# function sees crossing the 180 deg boundary
# in normal trig counter-clockwise direction for
# positive angle rotations as approaching from the
# other direction as -179 deg (clockwise)

boundTo180(181)
Out[9]: -179.0

# same with 180+90 ( = 270)

boundTo180(180+90)
Out[10]: -90.000000000...

# the usual

rad2deg(np.pi)
Out[1]: 180.0

deg2rad(180)
Out[2]: 3.141592653589793

# test w/ inverse ops

rad2deg(deg2rad(180))
Out[7]: 180.0

rad2deg(deg2rad(360))
Out[8]: 360.0

deg2rad(rad2deg(deg2rad(0)))
Out[10]: 0.0