Prevent discontinuity in angle interpolation

Fix yaw rate calculation by normalizing angle to valid range

sim/src/components/Dynamics_TF/src/tfImplementation.cpp

@@ -481,7 +481,9 @@ void TrajectoryFollowerImplementation::UpdateDynamics(const PolyLinePoint &previ
   dynamicsOutputSignal.dynamicsInformation.yaw = previousPosition.pose.orientation.yaw + deltaYawAngle;
 
   dynamicsOutputSignal.dynamicsInformation.yawRate
-      = (dynamicsOutputSignal.dynamicsInformation.yaw - lastWorldPosition.pose.orientation.yaw) / cycleTimeInSeconds;
+      = CommonHelper::SetAngleToValidRange(dynamicsOutputSignal.dynamicsInformation.yaw
+                                           - lastWorldPosition.pose.orientation.yaw)
+      / cycleTimeInSeconds;
   dynamicsOutputSignal.dynamicsInformation.yawAcceleration
       = (dynamicsOutputSignal.dynamicsInformation.yawRate - lastYawVelocity) / cycleTimeInSeconds;