import math


def NormalizeAngle(angle):
	""" Convert angle to [0, 2pi) """
	if angle < 0:
		angle += 2 * math.pi
	elif angle >= 2 * math.pi:
		angle -= 2 * math.pi
	if angle >= 0 and angle < 2 * math.pi:
		return angle
	else:
		return NormalizeAngle(angle)