API Reference

This section provides comprehensive documentation for all DHB-XR modules and functions.

Core Modules

Core Types and Geometry

• Core Types - Enums, types, and constants

Encoding and Decoding

• DHB-DR Encoding - Double-reflection Euler-based encoding
• DHB Decoding - Reconstruction from invariants

Time-Invariant Representations

• DHB-TI - Speed-independent encoding via reparameterization

Advanced Features

• Optimization - Trajectory adaptation and optimization
• Motion Database - Storage and similarity search
• Tokenization - VQ-VAE for discrete representations
• Loss Functions - Imitation learning losses
• Visualization - Plotting and visualization utilities

Usage Examples

# Import main functions
from dhb_xr import encode_dhb_dr, decode_dhb_dr

# Import types
from dhb_xr.core.types import DHBMethod, EncodingMethod

# Import utilities
from dhb_xr.core import geometry as geom
from dhb_xr.utils import preprocessing, resampling

Module Organization

DHB-XR is organized into the following main modules:

• dhb_xr.core - Core types, geometry, and utilities
• dhb_xr.encoder - Encoding functions (DHB-DR, DHB-QR, DHB-TI)
• dhb_xr.decoder - Decoding functions
• dhb_xr.optimization - Trajectory optimization and adaptation
• dhb_xr.database - Motion storage and retrieval
• dhb_xr.tokenization - VQ-VAE tokenization
• dhb_xr.losses - Loss functions for imitation learning
• dhb_xr.visualization - Plotting utilities
• dhb_xr.utils - Additional utilities