If you know the document ID of a form, it is possible to open the form directly in the viewer via a carefully constructed URL:-
<server> is your Anoto Live Forms server fully qualified domain name
<docid> is the document ID as shown in the viewer or passed back to the client software.
It is not possible to incorporate user authentication credentials, therefore a user clicking the link would be asked to enter their username/password. This information could be cached in the browser for future sessions.