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I spent a lot of time trying to figure out why my code wasn't working, before finally identifying the angle function as the cause of the error. I thought I had the latest version but I didn't so I missed the fix in #74 and eventually solved it myself.
Sometime later I thought I should contribute my fix, only this time I discovered that the problem had already been solved. However, upon updating I realized that the function in #74 discards the sign of the angle, which is unfortunate because that information is extremely useful for a lot of things.
This version keeps the sign information (+PI to -PI), with positive values in the CCW direction as is traditional.