Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
vpSimulatorViper850 Member List

This is the complete list of members for vpSimulatorViper850, including all inherited members.

a1vpViperprotected
a2vpViperprotected
a3vpViperprotected
areJointLimitsAvailablevpRobotprotected
artCoordvpRobotWireFrameSimulatorprotected
ARTICULAR_FRAME enum valuevpRobot
artVelvpRobotWireFrameSimulatorprotected
attrvpRobotWireFrameSimulatorprotected
blockedvpWireFrameSimulatorprotected
blockedrvpWireFrameSimulatorprotected
blockedtvpWireFrameSimulatorprotected
blockedzvpWireFrameSimulatorprotected
c56vpViperprotected
camColorvpWireFrameSimulatorprotected
cameravpWireFrameSimulatorprotected
CAMERA_FRAME enum valuevpRobot
cameraFactorvpWireFrameSimulatorprotected
cameraParamvpRobotWireFrameSimulatorprotected
cameraTrajectoryvpWireFrameSimulatorprotected
camMfvpWireFrameSimulatorprotected
camMf2vpWireFrameSimulatorprotected
camTrajColorvpWireFrameSimulatorprotected
camTrajTypevpWireFrameSimulatorprotected
cdMovpWireFrameSimulatorprotected
CIRCLE enum valuevpWireFrameSimulatorprotected
cMovpWireFrameSimulatorprotected
compute_fMi()vpSimulatorViper850protected
computeArticularVelocity()vpSimulatorViper850protectedvirtual
CONST_CAMERA_FILENAMEvpViper850static
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAMEvpViper850static
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAMEvpViper850static
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAMEvpViper850static
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAMEvpViper850static
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAMEvpViper850static
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAMEvpViper850static
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAMEvpViper850static
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAMEvpViper850static
CONST_GENERIC_CAMERA_NAMEvpViper850static
CONST_MARLIN_F033C_CAMERA_NAMEvpViper850static
CONST_PTGREY_FLEA2_CAMERA_NAMEvpViper850static
CONST_SCHUNK_GRIPPER_CAMERA_NAMEvpViper850static
constantSamplingTimeModevpRobotWireFrameSimulatorprotected
CT_LINE enum valuevpWireFrameSimulatorprotected
CT_POINT enum valuevpWireFrameSimulatorprotected
CUBE enum valuevpWireFrameSimulatorprotected
curColorvpWireFrameSimulatorprotected
CYLINDER enum valuevpWireFrameSimulatorprotected
d1vpViperprotected
d4vpViperprotected
d6vpViperprotected
d7vpViperprotected
D_CIRCLE enum valuevpWireFrameSimulatorprotected
D_STANDARD enum valuevpWireFrameSimulatorprotected
D_TOOL enum valuevpWireFrameSimulatorprotected
defaultPositioningVelocityvpSimulatorViper850static
defaultToolvpViper850static
deleteCameraPositionHistory()vpWireFrameSimulatorinlineprotected
delta_t_vpRobotSimulatorprotected
desColorvpWireFrameSimulatorprotected
desiredObjectvpWireFrameSimulatorprotected
desiredScenevpWireFrameSimulatorprotected
DIAMOND enum valuevpWireFrameSimulatorprotected
displayvpRobotWireFrameSimulatorprotected
display_scene(Matrix mat, Bound_scene &sc, const vpImage< vpRGBa > &I, const vpColor &color)vpWireFrameSimulatorprotected
display_scene(Matrix mat, Bound_scene &sc, const vpImage< unsigned char > &I, const vpColor &color)vpWireFrameSimulatorprotected
displayAllowedvpRobotWireFrameSimulatorprotected
displayBusyvpRobotWireFrameSimulatorprotected
displayCameravpWireFrameSimulatorprotected
displayCameraTrajectoryvpWireFrameSimulatorprotected
displayDesiredObjectvpWireFrameSimulatorprotected
displayImageSimulatorvpWireFrameSimulatorprotected
displayObjectvpWireFrameSimulatorprotected
displayTrajectory(const vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)vpWireFrameSimulatorprotected
displayTrajectory(const vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)vpWireFrameSimulatorprotected
displayTypevpRobotWireFrameSimulatorprotected
eJevpRobotprotected
eJeAvailablevpRobotprotected
eMcvpViperprotected
END_EFFECTOR_FRAME enum valuevpRobot
ercvpViperprotected
etcvpViperprotected
extCamChangedvpWireFrameSimulatorprotected
f2MfvpWireFrameSimulatorprotected
findHighestPositioningSpeed(vpColVector &q)vpSimulatorViper850protected
fJevpRobotprotected
fJeAvailablevpRobotprotected
fMcvpWireFrameSimulatorprotected
fMivpRobotWireFrameSimulatorprotected
fMovpWireFrameSimulatorprotected
fMoListvpWireFrameSimulatorprotected
get_artCoord()vpRobotWireFrameSimulatorinlineprotected
get_artVel()vpRobotWireFrameSimulatorinlineprotected
get_cMe(vpHomogeneousMatrix &cMe)vpSimulatorViper850
vpViper850::get_cMe(vpHomogeneousMatrix &cMe) constvpViper
get_cMo()vpRobotWireFrameSimulator
vpWireFrameSimulator::get_cMo() constvpWireFrameSimulatorinlineprotected
get_cMo_History(std::list< vpHomogeneousMatrix > &cMo_history)vpWireFrameSimulatorinlineprotected
get_cVe(vpVelocityTwistMatrix &cVe)vpSimulatorViper850
vpViper850::get_cVe(vpVelocityTwistMatrix &cVe) constvpViper
get_displayBusy()vpRobotWireFrameSimulatorinlineprotected
get_eJe(vpMatrix &eJe)vpSimulatorViper850virtual
vpViper850::get_eJe(const vpColVector &q, vpMatrix &eJe) constvpViper
get_eMc(vpHomogeneousMatrix &eMc) constvpViper
get_eMs(vpHomogeneousMatrix &eMs) constvpViper
get_fJe(vpMatrix &fJe)vpSimulatorViper850virtual
vpViper850::get_fJe(const vpColVector &q, vpMatrix &fJe) constvpViper
get_fJw(const vpColVector &q, vpMatrix &fJw) constvpViper
get_fMc(const vpColVector &q) constvpViper
get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) constvpViper
get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) constvpViper
get_fMi(vpHomogeneousMatrix *fMit)vpSimulatorViper850inlineprotectedvirtual
get_fMo() constvpRobotWireFrameSimulatorinline
get_fMo_History(std::list< vpHomogeneousMatrix > &fMo_history)vpWireFrameSimulatorinlineprotected
get_fMw(const vpColVector &q, vpHomogeneousMatrix &fMw) constvpViper
get_velocity()vpRobotWireFrameSimulatorinlineprotected
get_wMe(vpHomogeneousMatrix &wMe) constvpViper
getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)vpSimulatorViper850
getCameraParameters(vpCameraParameters &cam, const vpImage< unsigned char > &I)vpSimulatorViper850
getCameraParameters(vpCameraParameters &cam, const vpImage< vpRGBa > &I)vpSimulatorViper850
vpViper850::getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) constvpViper850
vpViper850::getCameraParameters(vpCameraParameters &cam, const vpImage< unsigned char > &I) constvpViper850
vpViper850::getCameraParameters(vpCameraParameters &cam, const vpImage< vpRGBa > &I) constvpViper850
getCameraParametersProjType() constvpViper850inline
getCoupl56() constvpViper
getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &displacement)vpSimulatorViper850virtual
getExternalCameraParameters() constvpRobotWireFrameSimulatorinline
vpWireFrameSimulator::getExternalCameraParameters(const vpImage< unsigned char > &I) constvpWireFrameSimulatorinlineprotected
vpWireFrameSimulator::getExternalCameraParameters(const vpImage< vpRGBa > &I) constvpWireFrameSimulatorinlineprotected
getExternalCameraPosition() constvpRobotWireFrameSimulatorinline
getExternalImage(vpImage< vpRGBa > &I)vpSimulatorViper850protected
vpRobotWireFrameSimulator::getExternalImage(vpImage< unsigned char > &I)vpWireFrameSimulator
vpRobotWireFrameSimulator::getExternalImage(vpImage< unsigned char > &I, const vpHomogeneousMatrix &camMf)vpWireFrameSimulator
vpRobotWireFrameSimulator::getExternalImage(vpImage< vpRGBa > &I, const vpHomogeneousMatrix &camMf)vpWireFrameSimulator
getForwardKinematics(const vpColVector &q) constvpViper
getInternalCameraParameters(const vpImage< unsigned char > &I) constvpWireFrameSimulatorinlineprotected
getInternalCameraParameters(const vpImage< vpRGBa > &I) constvpWireFrameSimulatorinlineprotected
getInternalImage(vpImage< unsigned char > &I)vpWireFrameSimulatorprotected
getInternalImage(vpImage< vpRGBa > &I)vpWireFrameSimulatorprotected
getInternalView(vpImage< vpRGBa > &I)vpRobotWireFrameSimulator
getInternalView(vpImage< unsigned char > &I)vpRobotWireFrameSimulator
getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &verbose=false) constvpViper
getInverseKinematicsWrist(const vpHomogeneousMatrix &fMw, vpColVector &q, const bool &verbose=false) constvpViper
getJointMax() constvpViper
getJointMin() constvpViper
getMaxRotationVelocity(void) constvpRobot
getMaxTranslationVelocity(void) constvpRobot
getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)vpSimulatorViper850virtual
getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp)vpSimulatorViper850
getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position)vpSimulatorViper850
getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp)vpSimulatorViper850
vpRobotWireFrameSimulator::getPosition(const vpRobot::vpControlFrameType frame)vpRobot
getPositioningVelocity(void)vpSimulatorViper850inline
getRobotFrame(void) constvpRobotinlineprotected
getRobotState(void) constvpRobotinlinevirtual
getSamplingTime() constvpRobotSimulatorinline
getToolType() constvpViper850inline
getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q)vpSimulatorViper850
getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp)vpSimulatorViper850
getVelocity(const vpRobot::vpControlFrameType frame)vpSimulatorViper850
getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp)vpSimulatorViper850
IvpRobotWireFrameSimulator
init(vpViper850::vpToolType tool, vpCameraParameters::vpCameraParametersProjType projModel=vpCameraParameters::perspectiveProjWithoutDistortion)vpSimulatorViper850
init()vpSimulatorViper850protectedvirtual
vpViper850::init(const std::string &camera_extrinsic_parameters)vpViper850
vpViper850::init(vpViper850::vpToolType tool, const std::string &filename)vpViper850
vpViper850::init(vpViper850::vpToolType tool, const vpHomogeneousMatrix &eMc_)vpViper850
initArms()vpSimulatorViper850protectedvirtual
initDisplay()vpSimulatorViper850protected
initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo)vpSimulatorViper850
initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo)vpSimulatorViper850
initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)vpRobotWireFrameSimulator
initScene(const char *obj, const char *desiredObject)vpRobotWireFrameSimulator
initScene(const vpSceneObject &obj)vpRobotWireFrameSimulator
initScene(const char *obj)vpRobotWireFrameSimulator
vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list< vpImageSimulator > &imObj)vpWireFrameSimulatorprotected
vpWireFrameSimulator::initScene(const char *obj, const char *desiredObject, const std::list< vpImageSimulator > &imObj)vpWireFrameSimulatorprotected
vpWireFrameSimulator::initScene(const vpSceneObject &obj, const std::list< vpImageSimulator > &imObj)vpWireFrameSimulatorprotected
vpWireFrameSimulator::initScene(const char *obj, const std::list< vpImageSimulator > &imObj)vpWireFrameSimulatorprotected
isInJointLimit(void)vpSimulatorViper850protectedvirtual
joint_maxvpViperprotected
joint_minvpViperprotected
JOINT_STATE enum valuevpRobot
jointLimitvpRobotWireFrameSimulatorprotected
jointLimitArtvpRobotWireFrameSimulatorprotected
launcher(void *arg)vpRobotWireFrameSimulatorinlineprotectedstatic
maxRotationVelocityvpRobotprotected
maxRotationVelocityDefaultvpRobotprotectedstatic
maxTranslationVelocityvpRobotprotected
maxTranslationVelocityDefaultvpRobotprotectedstatic
MIXT_FRAME enum valuevpRobot
MODEL_3D enum valuevpRobotWireFrameSimulator
MODEL_DH enum valuevpRobotWireFrameSimulator
move(const char *filename)vpSimulatorViper850
mutex_artCoordvpRobotWireFrameSimulatorprotected
mutex_artVelvpRobotWireFrameSimulatorprotected
mutex_displayvpRobotWireFrameSimulatorprotected
mutex_fMivpRobotWireFrameSimulatorprotected
mutex_velocityvpRobotWireFrameSimulatorprotected
navigation(const vpImage< vpRGBa > &I, bool &changed)vpWireFrameSimulatorprotected
navigation(const vpImage< unsigned char > &I, bool &changed)vpWireFrameSimulatorprotected
nbrPtLimitvpWireFrameSimulatorprotected
nDofvpRobotprotected
njointvpViperstatic
objectvpWireFrameSimulatorprotected
objectImagevpWireFrameSimulatorprotected
old_iPrvpWireFrameSimulatorprotected
old_iPtvpWireFrameSimulatorprotected
old_iPzvpWireFrameSimulatorprotected
operator=(const vpRobot &robot)vpRobot
parseConfigFile(const std::string &filename)vpViper850
PIPE enum valuevpWireFrameSimulatorprotected
PLAN enum valuevpWireFrameSimulatorprotected
PLATE enum valuevpWireFrameSimulatorprotected
POINT_CLOUD enum valuevpWireFrameSimulatorprotected
poseListvpWireFrameSimulatorprotected
projectCameraTrajectory(const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)vpWireFrameSimulatorprotected
projectCameraTrajectory(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)vpWireFrameSimulatorprotected
projectCameraTrajectory(const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)vpWireFrameSimulatorprotected
projectCameraTrajectory(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)vpWireFrameSimulatorprotected
projModelvpViper850protected
px_extvpWireFrameSimulatorprotected
px_intvpWireFrameSimulatorprotected
py_extvpWireFrameSimulatorprotected
py_intvpWireFrameSimulatorprotected
qmaxvpRobotprotected
qminvpRobotprotected
readPosFile(const std::string &filename, vpColVector &q)vpSimulatorViper850static
RECTANGLE enum valuevpWireFrameSimulatorprotected
REFERENCE_FRAME enum valuevpRobot
refMovpWireFrameSimulatorprotected
ROAD enum valuevpWireFrameSimulatorprotected
robotArmsvpRobotWireFrameSimulatorprotected
robotStopvpRobotWireFrameSimulatorprotected
rotzvpWireFrameSimulatorprotected
saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)vpRobotstatic
savePosFile(const std::string &filename, const vpColVector &q)vpSimulatorViper850static
scenevpWireFrameSimulatorprotected
sceneInitializedvpWireFrameSimulatorprotected
set_artCoord(const vpColVector &coord)vpRobotWireFrameSimulatorinlineprotected
set_artVel(const vpColVector &vel)vpRobotWireFrameSimulatorinlineprotected
set_displayBusy(const bool &status)vpRobotWireFrameSimulatorinlineprotected
set_eMc(const vpHomogeneousMatrix &eMc_)vpVipervirtual
set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_)vpVipervirtual
set_fMo(const vpHomogeneousMatrix &fMo_)vpRobotWireFrameSimulatorinline
set_velocity(const vpColVector &vel)vpRobotWireFrameSimulatorinlineprotected
setCameraColor(const vpColor &col)vpRobotWireFrameSimulatorinline
setCameraParameters(const vpCameraParameters &cam)vpSimulatorViper850
setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)vpWireFrameSimulatorinlineprotected
setCameraPositionRelWorld(const vpHomogeneousMatrix &fMc_)vpWireFrameSimulatorinlineprotected
setCameraSizeFactor(float factor)vpWireFrameSimulatorinlineprotected
setCameraTrajectoryColor(const vpColor &col)vpWireFrameSimulatorinlineprotected
setCameraTrajectoryDisplayType(const vpCameraTrajectoryDisplayType &camTraj_type)vpWireFrameSimulatorinlineprotected
setConstantSamplingTimeMode(const bool _constantSamplingTimeMode)vpRobotWireFrameSimulatorinline
setCurrentViewColor(const vpColor &col)vpRobotWireFrameSimulatorinline
setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)vpRobotWireFrameSimulatorinline
setDesiredViewColor(const vpColor &col)vpRobotWireFrameSimulatorinline
setDisplayCameraTrajectory(const bool &do_display)vpWireFrameSimulatorinlineprotected
setDisplayRobotType(const vpDisplayRobotType dispType)vpRobotWireFrameSimulatorinline
setExternalCameraParameters(const vpCameraParameters &cam)vpWireFrameSimulatorinlineprotected
setExternalCameraPosition(const vpHomogeneousMatrix &camMf_)vpRobotWireFrameSimulatorinline
setGraphicsThickness(unsigned int thickness)vpRobotWireFrameSimulatorinline
setInternalCameraParameters(const vpCameraParameters &cam)vpWireFrameSimulatorinlineprotected
setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax)vpSimulatorViper850
setMaxRotationVelocity(double maxVr)vpRobot
setMaxTranslationVelocity(double maxVt)vpRobot
setNbPtTrajectory(unsigned int nbPt)vpWireFrameSimulatorinlineprotected
setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)vpSimulatorViper850virtual
setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3, double pos4, double pos5, double pos6)vpSimulatorViper850
setPosition(const char *filename)vpSimulatorViper850
setPositioningVelocity(double vel)vpSimulatorViper850inline
setRobotFrame(vpRobot::vpControlFrameType newFrame)vpRobotprotected
setRobotState(const vpRobot::vpRobotStateType newState)vpSimulatorViper850virtual
setSamplingTime(const double &delta_t)vpRobotWireFrameSimulatorinlinevirtual
setSingularityManagement(bool sm)vpRobotWireFrameSimulatorinline
setToolType(vpViper850::vpToolType tool)vpViper850inlineprotected
setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)vpSimulatorViper850virtual
setVelocityCalledvpRobotWireFrameSimulatorprotected
setVerbose(bool verbose)vpRobotWireFrameSimulatorinline
singularityManagementvpRobotWireFrameSimulatorprotected
singularityTest(const vpColVector &q, vpMatrix &J)vpSimulatorViper850protected
size_fMivpRobotWireFrameSimulatorprotected
SMALL_PLATE enum valuevpWireFrameSimulatorprotected
SPHERE enum valuevpWireFrameSimulatorprotected
SQUARE_10CM enum valuevpWireFrameSimulatorprotected
STATE_ACCELERATION_CONTROL enum valuevpRobot
STATE_FORCE_TORQUE_CONTROL enum valuevpRobot
STATE_POSITION_CONTROL enum valuevpRobot
STATE_STOP enum valuevpRobot
STATE_VELOCITY_CONTROL enum valuevpRobot
stopMotion()vpSimulatorViper850
tcurvpRobotWireFrameSimulatorprotected
thickness_vpWireFrameSimulatorprotected
threadvpRobotWireFrameSimulatorprotected
THREE_LINES enum valuevpWireFrameSimulatorprotected
THREE_PTS enum valuevpWireFrameSimulatorprotected
TIRE enum valuevpWireFrameSimulatorprotected
tool_currentvpViper850protected
TOOL_CUSTOM enum valuevpViper850
TOOL_FRAME enum valuevpRobot
TOOL_GENERIC_CAMERA enum valuevpViper850
TOOL_MARLIN_F033C_CAMERA enum valuevpViper850
TOOL_PTGREY_FLEA2_CAMERA enum valuevpViper850
TOOL_SCHUNK_GRIPPER_CAMERA enum valuevpViper850
tprevvpRobotWireFrameSimulatorprotected
TRAPEZOID enum valuevpWireFrameSimulatorprotected
updateArticularPosition()vpSimulatorViper850protectedvirtual
velocityvpRobotWireFrameSimulatorprotected
verbose_vpRobotWireFrameSimulatorprotected
vpCameraTrajectoryDisplayType enum namevpWireFrameSimulatorprotected
vpControlFrameType enum namevpRobot
vpDisplayRobotType enum namevpRobotWireFrameSimulator
vpRobot(void)vpRobot
vpRobot(const vpRobot &robot)vpRobot
vpRobotSimulator()vpRobotSimulator
vpRobotStateType enum namevpRobot
vpRobotWireFrameSimulator()vpRobotWireFrameSimulator
vpRobotWireFrameSimulator(bool display)vpRobotWireFrameSimulatorexplicit
vpSceneDesiredObject enum namevpWireFrameSimulatorprotected
vpSceneObject enum namevpWireFrameSimulatorprotected
vpSimulatorViper850()vpSimulatorViper850
vpSimulatorViper850(bool display)vpSimulatorViper850explicit
vpToolType enum namevpViper850
vpViper()vpViper
vpViper850()vpViper850
vpWireFrameSimulator()vpWireFrameSimulatorprotected
~vpRobot()vpRobotvirtual
~vpRobotSimulator()vpRobotSimulatorinlinevirtual
~vpRobotWireFrameSimulator()vpRobotWireFrameSimulatorvirtual
~vpSimulatorViper850()vpSimulatorViper850virtual
~vpViper()vpViperinlinevirtual
~vpViper850()vpViper850inlinevirtual
~vpWireFrameSimulator()vpWireFrameSimulatorprotectedvirtual