Unwrapping angles to [-pi,pi]

gistfile1.txt

## Using Numpy functions result should be [-pi,pi]
import numpy as np
phases = np.arctan2(np.sin(phases), np.cos(phases))
## equivalen to:
phases = np.angle(np.exp(1j*phases))

## Modulo approach
phases =  (( -phases + np.pi) % (2.0 * np.pi ) - np.pi) * -1.0

## Programmatic approach in C++
double constrainAngle(double x){
    x = fmod(x + 180,360);
    if (x < 0)
        x += 360;
    return x - 180;
}