Fixes wrap_to_pi function in math utilities
#771
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Dhoeller19
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Aug 2, 2024
iamdrfly
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Nov 21, 2024
# Description The previous implementation of `wrap_to_pi` was rather incorrect since it would map -PI to PI but -3PI to -PI. Following the general convention of this function (based on MATLAB), all odd positive multiples of PI should map to PI, and all negative multiples should map to -PI. This MR fixes the function and also adds a unit test for it. Fixes isaac-sim#770 ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
The previous implementation of
wrap_to_piwas rather incorrect since it would map -PI to PI but -3PI to -PI. Following the general convention of this function (based on MATLAB), all odd positive multiples of PI should map to PI, and all negative multiples should map to -PI.This MR fixes the function and also adds a unit test for it.
Fixes #770
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there