angle wrapping scheme

[bradybus]

I found this:

https://stackoverflow.com/a/43780476

I am wondering if it would simplify the angle wrapping. As I understand it, it could do away with the while loop, as well as the fmod. Not sure which is better.

https://github.com/byu-magicc/rosplane/blob/8da1c557aa1248db90e5c55c8025971449c366fb/rosplane/src/estimator_example.cpp#L250-253