bugfix: platform position controller is turning into wrong direction

Changes

• Orientation PID controller with 'limitless' flag to clamp error to [-pi, pi]
• Clamping incoming angles (target orientation and current orientation) to [-pi, pi]
• Simplified implementation (removed the buggy/incorrect code)

Tests

Tested in simulation: from orientation -1.3 to 1.5

requested review from @christophpohl, @markusgrotz, and @dreher

assigned to @fabian.reister

changed the description

approved this merge request

added 1 commit

• eb9c9a14 - avoiding unnecessary copy

Compare with previous version

mentioned in commit 29ed53de

merged