1 EfmTrajectoryView

data_handling.EfmTrajectoryView(t_world_rig, time_ns, gravity_in_world)

World-frame rig trajectory aligned to snippet frames.

1.1 Attributes

Name	Description
t_world_rig	Rig SE(3) poses per frame (world←rig).
time_ns	`Tensor["F", int64]` pose timestamps.
gravity_in_world	`Tensor["3", float32]` gravity vector in world frame (aligned to [0,0,-9.81]).
final_pose	Final rig pose in snippet. world ← rig.

1.2 Methods

Name	Description
to	Move the trajectory tensors to the requested device and dtype.

1.2.1 to

data_handling.EfmTrajectoryView.to(device, *, dtype=None)

Move the trajectory tensors to the requested device and dtype.

# EfmTrajectoryView { #aria_nbv.data_handling.EfmTrajectoryView }

```python
data_handling.EfmTrajectoryView(t_world_rig, time_ns, gravity_in_world)
```

World-frame rig trajectory aligned to snippet frames.

## Attributes

| Name | Description |
| --- | --- |
| [t_world_rig](#aria_nbv.data_handling.EfmTrajectoryView.t_world_rig) | Rig SE(3) poses per frame (world←rig). |
| [time_ns](#aria_nbv.data_handling.EfmTrajectoryView.time_ns) | ``Tensor["F", int64]`` pose timestamps. |
| [gravity_in_world](#aria_nbv.data_handling.EfmTrajectoryView.gravity_in_world) | ``Tensor["3", float32]`` gravity vector in world frame (aligned to [0,0,-9.81]). |
| [final_pose](#aria_nbv.data_handling.EfmTrajectoryView.final_pose) | Final rig pose in snippet. world ← rig. |

## Methods

| Name | Description |
| --- | --- |
| [to](#aria_nbv.data_handling.EfmTrajectoryView.to) | Move the trajectory tensors to the requested device and dtype. |

### to { #aria_nbv.data_handling.EfmTrajectoryView.to }

```python
data_handling.EfmTrajectoryView.to(device, *, dtype=None)
```

Move the trajectory tensors to the requested device and dtype.