1 R6dLffPoseEncoder

vin.pose_encoders.R6dLffPoseEncoder(config)

Encode poses as translation + rotation-6D passed through LFF.

1.1 Methods

Name	Description
encode	Encode poses in the reference rig frame.

1.1.1 encode

vin.pose_encoders.R6dLffPoseEncoder.encode(pose_rig)

Encode poses in the reference rig frame.

1.1.1.1 Parameters

Name	Type	Description	Default
pose_rig	PoseTW	`PoseTW["... 12"]` pose in reference rig frame.	required

1.1.1.2 Returns

Name	Type	Description
	PoseEncodingOutput	PoseEncodingOutput containing translation, pose vector, and embedding.

# R6dLffPoseEncoder { #aria_nbv.vin.pose_encoders.R6dLffPoseEncoder }

```python
vin.pose_encoders.R6dLffPoseEncoder(config)
```

Encode poses as translation + rotation-6D passed through LFF.

## Methods

| Name | Description |
| --- | --- |
| [encode](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoder.encode) | Encode poses in the reference rig frame. |

### encode { #aria_nbv.vin.pose_encoders.R6dLffPoseEncoder.encode }

```python
vin.pose_encoders.R6dLffPoseEncoder.encode(pose_rig)
```

Encode poses in the reference rig frame.

#### Parameters {.doc-section .doc-section-parameters}

| Name     | Type   | Description                                       | Default    |
|----------|--------|---------------------------------------------------|------------|
| pose_rig | PoseTW | ``PoseTW["... 12"]`` pose in reference rig frame. | _required_ |

#### Returns {.doc-section .doc-section-returns}

| Name   | Type               | Description                                                            |
|--------|--------------------|------------------------------------------------------------------------|
|        | PoseEncodingOutput | PoseEncodingOutput containing translation, pose vector, and embedding. |