1 TrajectoryEncoder

vin.traj_encoder.TrajectoryEncoder(config)

Encode EFM trajectory poses with an R6D + LFF pose encoder.

1.1 Attributes

Name	Description
out_dim	Return the output embedding dimension.

1.2 Methods

Name	Description
encode_poses	Encode a batch of trajectory poses.
forward	Encode a trajectory’s world←rig poses.

1.2.1 encode_poses

vin.traj_encoder.TrajectoryEncoder.encode_poses(poses)

Encode a batch of trajectory poses.

1.2.1.1 Parameters

Name	Type	Description	Default
poses	PoseTW	`PoseTW["B F 12"]` or `PoseTW["F 12"]` trajectory poses.	required

1.2.1.2 Returns

Name	Type	Description
	TrajectoryEncodingOutput	TrajectoryEncodingOutput with per-frame encodings and pooled embedding.

1.2.2 forward

vin.traj_encoder.TrajectoryEncoder.forward(trajectory)

Encode a trajectory’s world←rig poses.

1.2.2.1 Parameters

Name	Type	Description	Default
trajectory	EfmTrajectoryView	`aria_nbv.data_handling.efm_views.EfmTrajectoryView`.	required

1.2.2.2 Returns

Name	Type	Description
	TrajectoryEncodingOutput	TrajectoryEncodingOutput with per-frame encodings and pooled embedding.

# TrajectoryEncoder { #aria_nbv.vin.traj_encoder.TrajectoryEncoder }

```python
vin.traj_encoder.TrajectoryEncoder(config)
```

Encode EFM trajectory poses with an R6D + LFF pose encoder.

## Attributes

| Name | Description |
| --- | --- |
| [out_dim](#aria_nbv.vin.traj_encoder.TrajectoryEncoder.out_dim) | Return the output embedding dimension. |

## Methods

| Name | Description |
| --- | --- |
| [encode_poses](#aria_nbv.vin.traj_encoder.TrajectoryEncoder.encode_poses) | Encode a batch of trajectory poses. |
| [forward](#aria_nbv.vin.traj_encoder.TrajectoryEncoder.forward) | Encode a trajectory's world←rig poses. |

### encode_poses { #aria_nbv.vin.traj_encoder.TrajectoryEncoder.encode_poses }

```python
vin.traj_encoder.TrajectoryEncoder.encode_poses(poses)
```

Encode a batch of trajectory poses.

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

| Name   | Type   | Description                                                  | Default    |
|--------|--------|--------------------------------------------------------------|------------|
| poses  | PoseTW | ``PoseTW["B F 12"]`` or ``PoseTW["F 12"]`` trajectory poses. | _required_ |

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

| Name   | Type                     | Description                                                             |
|--------|--------------------------|-------------------------------------------------------------------------|
|        | TrajectoryEncodingOutput | TrajectoryEncodingOutput with per-frame encodings and pooled embedding. |

### forward { #aria_nbv.vin.traj_encoder.TrajectoryEncoder.forward }

```python
vin.traj_encoder.TrajectoryEncoder.forward(trajectory)
```

Encode a trajectory's world←rig poses.

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

| Name       | Type              | Description                                           | Default    |
|------------|-------------------|-------------------------------------------------------|------------|
| trajectory | EfmTrajectoryView | `aria_nbv.data_handling.efm_views.EfmTrajectoryView`. | _required_ |

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

| Name   | Type                     | Description                                                             |
|--------|--------------------------|-------------------------------------------------------------------------|
|        | TrajectoryEncodingOutput | TrajectoryEncodingOutput with per-frame encodings and pooled embedding. |