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from Gaussian Mixture Probability Hypothesis Density Filter (GM-PHD) by Bryan Clarke
Implementation of the Gaussian mixture probability hypothesis density filter GM-PHD.

ConvertPlusMinusPi(theta)
function theta = ConvertPlusMinusPi(theta)
    while(theta > pi)
        theta = theta - 2 * pi;
    end
    while(theta < -pi)
        theta = theta + 2 * pi;
    end
end

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