theta_within_minus_pi_to_pi.py

import numpy as np
def normalized_angle(theta):
    return theta - 2 * np.pi * np.round(theta / (2 * np.pi))

def normalized_angle2(theta):
    return np.arctan2(np.sin(theta), np.cos(theta))

if __name__ == "__main__":
    theta = np.array([-1.8, -1.2, 0.5, 1.2, 1.8])*np.pi
    print(normalized_angle(theta))
    print(normalized_angle2(theta))
    
#shirochan:~/microjax_algo>python temp.py
#[ 0.62831853  2.51327412  1.57079633 -2.51327412 -0.62831853]
#[ 0.62831853  2.51327412  1.57079633 -2.51327412 -0.62831853]