1 00:00:00,750 --> 00:00:01,650 ‫Welcome back. 2 00:00:02,190 --> 00:00:09,510 ‫So now, starting from this video, I want to talk about the additions and the modifications that I 3 00:00:09,510 --> 00:00:15,480 ‫have made in the code file in order to include NPC constraints here. 4 00:00:16,050 --> 00:00:20,880 ‫Now it's important to mention that I'm not explaining the code in this section. 5 00:00:21,570 --> 00:00:28,140 ‫The entire code file was explained in Section eight in the previous section in this section. 6 00:00:28,530 --> 00:00:37,470 ‫I simply very quickly talk about the additions that I have made to this file in order for you to see 7 00:00:37,800 --> 00:00:41,550 ‫how I had also implemented the NPC constraints here. 8 00:00:42,090 --> 00:00:49,950 ‫And so it is extremely important that you watch the code explanation videos in the previous section 9 00:00:49,950 --> 00:00:55,680 ‫first, because only then what I'm about to explain to here will make sense. 10 00:00:56,310 --> 00:00:57,870 ‫OK, so let's get started. 11 00:00:58,470 --> 00:01:00,540 ‫You already know that we have two files. 12 00:01:01,080 --> 00:01:04,330 ‫The main file and then the support file. 13 00:01:04,950 --> 00:01:12,510 ‫And so the main file is the one that you need to run, either in terminal if you use Ubuntu or in command 14 00:01:12,510 --> 00:01:14,280 ‫prompt if you use Windows. 15 00:01:14,910 --> 00:01:16,530 ‫And then the support file. 16 00:01:16,710 --> 00:01:23,670 ‫It consisted of all kinds of different functions that the main file needed to use. 17 00:01:24,270 --> 00:01:30,680 ‫And all these functions, they were part of one big class, which is this one here. 18 00:01:30,690 --> 00:01:38,610 ‫Support files, the drone and the very first function that we had here was this init function, which 19 00:01:38,610 --> 00:01:42,000 ‫is a mandatory function if you work with classes. 20 00:01:42,600 --> 00:01:49,440 ‫And so this function, like any other function and also like the main file itself. 21 00:01:50,070 --> 00:01:53,550 ‫They are the same like you had in section eight. 22 00:01:54,270 --> 00:02:02,370 ‫The only difference is that now you had a bit of more code in order to make the NPC constraints work. 23 00:02:02,940 --> 00:02:08,430 ‫So, for example, one addition to the init function is this one here. 24 00:02:09,090 --> 00:02:14,160 ‫Over here, I define my omega minimum and omega maximum. 25 00:02:14,790 --> 00:02:19,440 ‫So remember this was around 115 radians per second. 26 00:02:20,070 --> 00:02:24,630 ‫And then this one was around 900 gradients per second. 27 00:02:25,230 --> 00:02:28,560 ‫Essentially, they are these values here. 28 00:02:29,100 --> 00:02:33,210 ‫So this is around one hundred and fifteen radians per second. 29 00:02:33,840 --> 00:02:36,660 ‫And this one around 900 radians per second. 30 00:02:37,260 --> 00:02:39,870 ‫So these were your minimum and maximum bounds. 31 00:02:40,500 --> 00:02:42,120 ‫And so I define them here. 32 00:02:42,720 --> 00:02:45,420 ‫Then you have this constraint switch here. 33 00:02:45,990 --> 00:02:53,190 ‫The purpose of this variable is that here you can choose whether you want to take constraints into account 34 00:02:53,190 --> 00:02:53,760 ‫or not. 35 00:02:54,330 --> 00:03:03,060 ‫So if you put here a zero, then this entire code file, it's built in such a way that it would behave 36 00:03:03,570 --> 00:03:05,670 ‫like the one from section eight. 37 00:03:06,150 --> 00:03:10,050 ‫So if you don't want to consider constraints, just put here zero. 38 00:03:10,680 --> 00:03:14,970 ‫But if you do want to consider constraints, then you need to put one here. 39 00:03:15,660 --> 00:03:19,980 ‫Then this matrix here, it's this one here. 40 00:03:20,250 --> 00:03:28,230 ‫It's your see till the star you used it in order to extract your view to zero, you three zero and you 41 00:03:28,230 --> 00:03:35,370 ‫for zero, which were part of this augmented predicted state vector X1 Tilde. 42 00:03:36,000 --> 00:03:42,920 ‫And then, of course, later on, you used this matrix to extract the you values from this vector here. 43 00:03:43,150 --> 00:03:47,310 ‫Still, the two x still the three and still the four as well. 44 00:03:47,880 --> 00:03:51,120 ‫So this matrix here, it's this one here. 45 00:03:51,750 --> 00:03:59,610 ‫Now there is one modification that I have made in this code file compared to the one in section eight. 46 00:04:00,270 --> 00:04:03,120 ‫In Section eight, I used lists. 47 00:04:03,510 --> 00:04:07,710 ‫So all these constants, then I had defined in my neat function. 48 00:04:08,340 --> 00:04:16,980 ‫I put them here inside this list and then later on when I needed stuff from that list, then I extracted 49 00:04:16,980 --> 00:04:20,310 ‫them like this self dot constants. 50 00:04:20,970 --> 00:04:22,950 ‫And then I had to put a number here. 51 00:04:23,580 --> 00:04:31,680 ‫So six here it would be zero one, two, three, four, five and six. 52 00:04:32,340 --> 00:04:35,820 ‫So that's your yes, your sample time interval. 53 00:04:36,420 --> 00:04:43,680 ‫Remember, since you're working with Python, then six here means that this is your seventh element 54 00:04:43,980 --> 00:04:45,750 ‫because you start counting from zero. 55 00:04:46,350 --> 00:04:52,260 ‫And then in the main file you wrote constants equals support constants. 56 00:04:52,920 --> 00:04:57,510 ‫And then when you wanted to get your thoughts, then you wrote constants. 57 00:04:57,870 --> 00:04:59,820 ‫And then again, you put six here. 58 00:05:00,430 --> 00:05:08,380 ‫The problem with these lists is that when you have tens of variables there, then sometimes you might 59 00:05:08,380 --> 00:05:10,450 ‫make a mistake with these numbers. 60 00:05:11,080 --> 00:05:18,930 ‫And in order to avoid these mistakes, you have to very carefully count these variables so that you 61 00:05:18,930 --> 00:05:20,440 ‫would put the right number here. 62 00:05:21,010 --> 00:05:28,780 ‫It turns out that there is a better way to do it, and that's why in this version that has the constraints 63 00:05:28,780 --> 00:05:31,270 ‫in it, I'm using dictionaries. 64 00:05:31,810 --> 00:05:39,400 ‫You still put your initial constants inside your dictionary, but each variable has a special key. 65 00:05:40,000 --> 00:05:48,460 ‫And if you name that key in the same way, like you had named your variable itself, then later on, 66 00:05:48,460 --> 00:05:53,650 ‫when you need variables from your dictionary, it's very easy to extract them. 67 00:05:53,980 --> 00:06:01,900 ‫You just write self doubt constants and then the name of your key, which happens to have the same name, 68 00:06:02,290 --> 00:06:04,000 ‫like the name of that variable. 69 00:06:04,600 --> 00:06:07,210 ‫And then you do the same thing in your main file. 70 00:06:07,810 --> 00:06:15,460 ‫You write constants equals support constants and then you write two equals constants. 71 00:06:16,030 --> 00:06:19,030 ‫And then the name of the key, which is also PTS. 72 00:06:19,600 --> 00:06:22,660 ‫So that makes the coding process a lot easier. 73 00:06:23,200 --> 00:06:23,860 ‫But OK. 74 00:06:24,460 --> 00:06:27,340 ‫We have defined our omega omega max. 75 00:06:27,970 --> 00:06:30,550 ‫Then whether we want to use constraints or not. 76 00:06:31,120 --> 00:06:33,760 ‫And then this till the star matrix. 77 00:06:34,420 --> 00:06:37,330 ‫Now they're also part of this dictionary. 78 00:06:37,990 --> 00:06:44,530 ‫And so when I go back to my main file, then everything else is pretty much the same like it was before. 79 00:06:45,190 --> 00:06:53,500 ‫The only difference are that here I extract my omega minimum and omega maximum from the dictionary. 80 00:06:54,190 --> 00:07:01,150 ‫Then my initial omega as all four of them, I will assign omega meant to them. 81 00:07:01,780 --> 00:07:04,570 ‫Then I calculate my omega total. 82 00:07:05,260 --> 00:07:09,880 ‫Then everything is the same again until we reach here. 83 00:07:10,360 --> 00:07:18,040 ‫Here from the Constants Dictionary, I obtained this variable constraint switch, which had to be either 84 00:07:18,040 --> 00:07:18,940 ‫one or zero. 85 00:07:19,540 --> 00:07:25,720 ‫And so this is also new compared to the previous file in Section eight. 86 00:07:26,320 --> 00:07:34,330 ‫Here I write If constraint switch equals one, meaning that you want to include your NPC constraints, 87 00:07:35,050 --> 00:07:38,320 ‫then you enter into this block here. 88 00:07:38,950 --> 00:07:46,360 ‫If you choose to use NPC constraints, then only then it makes sense to import 2p solvers. 89 00:07:47,020 --> 00:07:48,730 ‫Otherwise, you don't need to import it. 90 00:07:49,330 --> 00:07:57,550 ‫And then inside this block, I will calculate my minimum and maximum use for all four of them. 91 00:07:58,120 --> 00:08:01,060 ‫So these equations, here they are. 92 00:08:01,060 --> 00:08:02,230 ‫These ones here. 93 00:08:02,560 --> 00:08:05,980 ‫Here we calculated the minimum and maximum your values. 94 00:08:06,580 --> 00:08:08,920 ‫And then in the code, we are doing it here. 95 00:08:09,250 --> 00:08:12,010 ‫And then here you have y max and women. 96 00:08:12,640 --> 00:08:21,280 ‫Essentially, you take your you to Max, U3 Max and you four max and you put them all in one array and 97 00:08:21,280 --> 00:08:25,840 ‫you call that array y max and you do the same thing for you. 98 00:08:25,840 --> 00:08:29,470 ‫Two men, you three men and you four men. 99 00:08:30,070 --> 00:08:34,210 ‫You put them all in one array and you call it y min. 100 00:08:34,960 --> 00:08:43,360 ‫Now you might wonder why I don't put my U1 max and you one min here inside these two arrays. 101 00:08:43,960 --> 00:08:46,870 ‫Well, that's because we're working with MPAC constraints. 102 00:08:47,530 --> 00:08:50,020 ‫But you one had nothing to do with NPC. 103 00:08:50,680 --> 00:08:57,190 ‫If you remember, then you one came out of your feedback, unionization block and then it went straight 104 00:08:57,190 --> 00:09:03,700 ‫into your planned box and only you to Q3 and Q4 came out of your NPC block. 105 00:09:04,300 --> 00:09:11,110 ‫And so this array y max and this one y men, they will be used for NPC constraints. 106 00:09:11,770 --> 00:09:17,150 ‫Now it doesn't mean, of course, that we are not going to constrain you one. 107 00:09:17,840 --> 00:09:21,460 ‫We're going to do that as well, but in a different way. 108 00:09:22,120 --> 00:09:30,670 ‫So here I start with my outer loop and everything is the same like it was in section eight, except 109 00:09:30,670 --> 00:09:33,100 ‫that you have this block here. 110 00:09:33,600 --> 00:09:41,590 ‫Here you say that if you consider your constraints, then when you get your u one from your position 111 00:09:41,590 --> 00:09:44,650 ‫controller from your feedback ionization controller. 112 00:09:45,190 --> 00:09:54,790 ‫Here, you say that if your you one is less than you one minimum, then you will simply assign this 113 00:09:54,790 --> 00:09:58,900 ‫you one minimal value to your u one variable. 114 00:09:59,750 --> 00:10:03,830 ‫You are simply going to send your you one meaning to your planned box. 115 00:10:04,430 --> 00:10:12,050 ‫And similarly, if your new one is greater than you one max, then you will simply send you one max 116 00:10:12,050 --> 00:10:13,130 ‫to your plan box. 117 00:10:13,760 --> 00:10:17,360 ‫So that's how we constrain our you one values. 118 00:10:17,990 --> 00:10:24,350 ‫And now we're going to finish with our outer loop and starting from here, we're going to start with 119 00:10:24,350 --> 00:10:25,220 ‫our inner loop.