def METHOD_NAME(A, sign):
    """ Unrolls the angles, A, so they increase continuously """
    n = np.array([0, 0, 0])
    P = np.zeros(np.shape(A))
    P[0]=A[0]
    for i in range(1, len(A)):
        n = n+((A[i]-A[i-1]+0.5*sign*np.pi)*sign<0)*np.ones(3)*2.*np.pi
        P[i] = A[i]+sign*n
    return P