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Following is the equation of Writhe matrix from the article Topology based Representation(page no. 6). enter image description here

What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some typo in that article. as the other article of Hierarchical Motion Planning(page no. 3), compleletely neglects the term 'sign[...]' enter image description here

Following is the equation of Writhe matrix from the article Topology based Representation. enter image description here

What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some typo in that article.

Following is the equation of Writhe matrix from the article Topology based Representation(page no. 6). enter image description here

What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some typo in that article as the other article of Hierarchical Motion Planning(page no. 3), compleletely neglects the term 'sign[...]' enter image description here

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Meaning of 'sign' in Writhe Matrix

Following is the equation of Writhe matrix from the article Topology based Representation. enter image description here

What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some typo in that article.