Properly rotate full [-pi, +pi] orientation range if available

The code currently in place assumes that orientation has a range
of [-pi/2, +pi/2] as may be found with a touch digitizer. However,
when used with a digitzer that can report the full [-pi, +pi] range
of orientations (e.g. a stylus) the calculations here are incorrect.

This patch checks if the post-rotation value is out of range for
the axis, and wraps it back around.

Change-Id: I03a22f7bf9526a5d995df1a18430d6dd24c6d6ee