main/src/georegression/metric/UtilAngle.java
public static double boundHalf( double angle ) {
		angle = bound(angle);

		if( angle > GrlConstants.PId2 ) {
			angle -= Math.PI;
		} else if( angle < -GrlConstants.PId2 ){
			angle += Math.PI;
		}
		return angle;
	}
public static double boundHalf( double angle ) {
		angle = bound(angle);

		if( angle > GrlConstants.PId2 ) {
			angle -= Math.PI;
		} else if( angle < -GrlConstants.PId2 ){
			angle += Math.PI;
		}
		return angle;
	}
public static double boundHalf ( double angle ) { angle = bound ( angle ) ; if ( angle > GrlConstants . PId2 ) { angle -= Math . PI ; } else if ( angle < - GrlConstants . PId2 ) { angle += Math . PI ; } return angle ; }
Bounds the angle between -&pi;/2 and &pi;/2
@param angle angle in radians
@return bounded angle
Bounds the angle between - &pi ; / 2 and &pi ; / 2