class AngleCalc {

    public double alignOrientation(double baseOrientation, double orientation) {
        double resultOrientation;
        if (baseOrientation >= 0) {
            if (orientation < -Math.PI + baseOrientation)
                resultOrientation = orientation + 2 * Math.PI;
            else
                resultOrientation = orientation;

        } else if (orientation > +Math.PI + baseOrientation)
            resultOrientation = orientation - 2 * Math.PI;
        else
            resultOrientation = orientation;
        return resultOrientation;
    }

}