braid_class_representatives — DRIVE braidpath op

• Data kinds: any → table

• Call: import fullseye as fs; fs.ledger.braid_class_representatives(plans, obstacles=None, costs=None, angle=0.1, jitter='auto') (to call the implementation directly, import braidpath; braidpath.braid_class_representatives(plans, obstacles=None, costs=None, angle=0.1, jitter='auto'); from the registry, opsdrive.get("braid_class_representatives"))

• GPU: none (CPU reference implementation only)

Usage

Partitions several plans (output of any planner) into homotopy classes and picks the lowest-cost plan in each class as its representative.

A plan is a (K, T, 2) trajectory, a sequence of grid paths, or a planner dict (paths; failed None entries are skipped and counted). All plans must share the same start and end points (the class is the class of deformations with fixed endpoints). The cost is costs or, if absent, the sum of the trajectory lengths.

Returns: dict classes (list in increasing order of cost; each element is a dict: key, word (representative word), best (plan index), cost, count, members), n_plans, n_failed, n_classes.

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_braid_homotopy_classes — py -3.11 examples/poc_braid_homotopy_classes.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (braidpath)

braid_from_trajectories · braid_reduce · braid_artin_images · dynnikov_coordinates · dynnikov_act · braid_equivalent · homotopy_class_compare · pairwise_winding

*Provenance: braidpath.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.