Normally, the output of functions that return angles (e.g. atan2) is strictly constrained within the range 0 to 2*pi or within the range -pi to pi.
Therefore, even if the inputs change continuously, the angle will exhibit 2*pi jumps across the limits, which is sometimes undesirable (e.g. when the angle drives a control system).
This block unwraps an input angle to the whole real axis so that it does not make 2*pi jumps anymore.
In order to distinguish jumps from normal behavior, an upper bound on the maximum time derivative of the input is assumed.