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

		if( angle > GrlConstants.F_PId2 ) {
			angle -= GrlConstants.F_PI;
		} else if( angle < -GrlConstants.F_PId2 ){
			angle += GrlConstants.F_PI;
		}
		return angle;
	}
public static float boundHalf( float angle ) {
		angle = bound(angle);

		if( angle > GrlConstants.F_PId2 ) {
			angle -= GrlConstants.F_PI;
		} else if( angle < -GrlConstants.F_PId2 ){
			angle += GrlConstants.F_PI;
		}
		return angle;
	}
Bounds the angle between -&pi;/2 and &pi;/2
@param angle angle in radians
@return bounded angle