1 PoseEncoder

vin.pose_encoders.PoseEncoder()

Base interface for VIN pose encoders.

1.1 Attributes

Name	Description
pose_encoder_lff	Optional LFF submodule for diagnostics (None for SH-only encoders).
out_dim	Return output embedding dimension.

1.2 Methods

Name	Description
encode	Encode a pose expressed in the reference frame.

1.2.1 encode

vin.pose_encoders.PoseEncoder.encode(pose_rig)

Encode a pose expressed in the reference frame.

# PoseEncoder { #aria_nbv.vin.pose_encoders.PoseEncoder }

```python
vin.pose_encoders.PoseEncoder()
```

Base interface for VIN pose encoders.

## Attributes

| Name | Description |
| --- | --- |
| [pose_encoder_lff](#aria_nbv.vin.pose_encoders.PoseEncoder.pose_encoder_lff) | Optional LFF submodule for diagnostics (None for SH-only encoders). |
| [out_dim](#aria_nbv.vin.pose_encoders.PoseEncoder.out_dim) | Return output embedding dimension. |

## Methods

| Name | Description |
| --- | --- |
| [encode](#aria_nbv.vin.pose_encoders.PoseEncoder.encode) | Encode a pose expressed in the reference frame. |

### encode { #aria_nbv.vin.pose_encoders.PoseEncoder.encode }

```python
vin.pose_encoders.PoseEncoder.encode(pose_rig)
```

Encode a pose expressed in the reference frame.