+ {
+ Angle minimum = (* min_)(t).get(Angle());
+ Angle maximum = (* max_)(t).get(Angle());
+ Angle link = (*link_)(t).get(Angle());
+
+ // if link is between min and max, use it
+ if (Angle::deg((link-minimum).mod()).get() < Angle::deg((maximum-minimum).mod()).get())
+ return link;
+ // otherwise use whichever of min and max is closest to link
+ else if (link.dist(minimum).abs() < link.dist(maximum).abs())
+ return minimum;
+ else
+ return maximum;
+ }