New 6v house batteries & main battery losing charge

I have a related question on batteries. I also have two 6v house and a 12v chassis on my 2011 Itasca F53. Can I charge my 6v with a battery charger plugged in to generator w/o unhooking batteries from the coach? Have never seen clear answer on this? We normally have hookups on most of our trips but on upcoming trip, we may have some one night stops w/o hookups plus a 7 day stop at Jasper NP w/o hookups.