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‫Welcome back.

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‫And so, as discussed before, the rest of the code after these inner and outer loops is about animation

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‫and plotting.

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‫So you can see it here as well, animation and then plotting.

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‫Now, if we look at plotting first, then plotting starts here after the end of the animation.

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‫And notice that here you have this no plots variable that you could assign a value to in the init function.

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‫So if you don't want to see plots, then in the next function you assign this value to be one and then

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‫you will exit the program.

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‫But if this values zero or actually any other value, then you will enter this block here and then it

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‫will start plotting you all kinds of graphs.

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‫So this one will plot a three dimensional work for you, this is not an animation.

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‫This is the first plot that you see after you close your animation.

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‫Then here you plot your X dimensions.

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‫Here you plot your Y dimensions, and then here you plot your Z dimensions.

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‫Here you plot your five feet on BPCI angles, and then here you plot your control inputs and also your

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‫own.

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‫So it's going to be a subplot with eight sub windows.

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‫So that's plotting and then animation works pretty much like this, that you've got some kind of function

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‫and then here you have a variable number, which is a feature of matplotlib, then this num variable,

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‫it's going to go from zero to one to two, three, four.

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‫You decide how many times you call this update plot function and therefore how many times this variable

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‫number gets increased by one every time this function is called.

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‫And the decision for that you can make in the end of the animation.

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‫So it's this one here.

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‫Here you call the animation function from matplotlib.

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‫You define your figure.

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‫And so here you decide how many times you call this update plot function.

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‫And you decided by determining your frame amount here, you're going to put your frame amount and then

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‫here you're going to put interval equals, I put it 20 here.

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‫So Intervale, it's how fast your frames would change.

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‫So 20.

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‫Twenty milliseconds.

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‫So that means that it's every zero point zero two seconds, then, if you want your information to repeat,

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‫you put here through and then blit, it's there to make the animation smoother.

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‫And by the way, this update plot, that's the name of this function where you have this non variable.

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‫So that's how the program knows that.

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‫OK, we're talking about this function here.

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‫And then, of course, you have to put Palta dot show here.

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‫So this is a function that you have to put here in the end.

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‫And then this figure that you define here, well, that's defined right here.

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‫You see here I define that figure.

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‫I define the grades for that figure.

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‫I need that to create some windows.

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‫Here I define the dimensions, the resolution and then the colors for the figure.

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‫So in a nutshell, the animation works like this here.

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‫You're going to go through some variables that are related to the animation.

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‫These are the numbers that I want to use for animation here, I define my frame amount, which is the

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‫length of this state's total X vector and this state's tall sub X is states total underscore UNY and

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‫then the first column.

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‫So if we go into our support file, then if you look at this, states underscore any vector, then you

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‫see that it contains information about X, Y, Z, Fifita and Passi.

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‫And then essentially here I make them Fleener.

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‫So if X goes from zero to 10, then this states up only is five times bigger because it will take this

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‫interval from zero to 10 and it will make it into five intervals.

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‫So this matrix will then contain information like this zero two four six eight 10.

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‫Then I can create an animation that is smooth.

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‫Otherwise your drone would move, then stop for a second move and then stop for a second in the move

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‫and stop for a second.

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‫So that's the purpose of it.

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‫And so I take the X dimension of this state's total underscore unny.

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‫I take its length and then I am going to say that it's my frame amount and I could have put here states

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‫total on the score, Y or Z.

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‫Doesn't matter.

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‫They all have the same length.

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‫Then the program recognizes this animation function.

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‫It recognizes this special matplotlib update plot function with this variable NUM that is used to update

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‫your feature called Figure in which you have your animations.

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‫So first of all, it's going to skip it.

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‫Then here you're going to define your figure.

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‫Then you're going to define certain objects, like, for example, this drone Body X, that's your red

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‫beam, right?

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‫Remember, that's your drone and that's the body from X dimension that your red beam and then this one,

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‫that's your green beam.

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‫You define them as objects.

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‫You define how wide they are.

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‫And then you have other objects here as well.

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‫For example, this one here, that's your reference trajectory line, the blue one, and this is your

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‫real trajectory.

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‫That's the red line that you see in the animation that shows how the drone actually flies.

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‫Then these are some formatting features.

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‫And now if you remember then we had two versions for our simulation.

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‫If same underscore version equals one, then your Windows showed you the control inputs you want you

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‫to use three and four, how they evolved as a function of time and also how your red and green beam,

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‫how they tilted, in which direction they tilted.

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‫Then you enter into this block here and then all that becomes relevant.

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‫However, if your SIM version equals two, then you see how your drone is able to follow your X, Y,

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‫Z, and then Fifita Inside Dimensions and then you can see them separately as a function of time.

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‫And then if your SIM version equals two, you entered this block here.

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‫And then in both blocs, what you do, you create objects, you create lines for yourself, windows,

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‫so you can see that this is green.

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‫So that's the green line that represents the tilting of your green beam.

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‫And this is for the red one.

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‫These are objects for your control input lines you want.

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‫Then you to use three and then you have four.

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‫And then if you had chosen SIM version two, then you simply enter into this block.

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‫But the logic is the same.

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‫You create objects here and then you reach this place here.

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‫So the programmer knows what figure you're talking about.

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‫It knows the function.

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‫It knows the amount of frames here.

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‫You specify your interval and then you specify if you want to repeat your animation or not and whether

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‫you want to be efficient or not.

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‫And then he goes here to that show, and then you're going to jump to the beginning of that function,

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‫which is you an update plot.

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‫And so if your frame amount was 10, then your number will go from zero to nine.

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‫And now this number variable is very important because what you're going to do, you're going to take

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‫your simulation results from your control engineering part and then you want to go through those results.

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‫So, for example, if we take this object here, that's the red line in your animation, real trajectory,

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‫then if we go to our update plot function.

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‫Then your real trajectory would be here and then you would right here, real trajectory that set X data.

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‫And then you take your state's toll suspects that you got from here and then you enter that vector and

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‫then you right here from zero column to number.

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‫So you can imagine that as you go through this function, your number will go like this zero one to.

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‫So in the first iteration, it will take your first element, then it will take your first and second

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‫element, because in the second loop it would be from zero to one.

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‫Then it will be from zero to two zero to three zero to four.

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‫And that's how your red line becomes longer and longer in your animation.

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‫So if you want, then you can play around and experiment with these features here and see what you're

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‫going to get, and then you're going to learn it very well through experimentation.

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‫And then it's very important that you return your objects that you had defined before you return it

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‫here or here, depending on your version.

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‫If you have a simpler animation, then you would simply have return here and then a bunch of objects.

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‫So that's an overview of how this animation works in Python.

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‫And well, we have covered pretty much everything here in this coat and also everything in the support

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‫file.

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‫So at the beginning it looks pretty massive coat.

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‫However, these two files, they really follow the theory.

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‫Everything that you have learned so far now is just in the coat format and that's it.