1 00:00:00,720 --> 00:00:05,880 ‫So the code inside your inner loop is the same like it was in section eight. 2 00:00:06,600 --> 00:00:09,690 ‫The first difference that you have is here. 3 00:00:10,350 --> 00:00:15,060 ‫That's when you enter inside your embassy simplification function. 4 00:00:15,750 --> 00:00:16,970 ‫Do you remember this? 5 00:00:16,980 --> 00:00:22,920 ‫Why Max and why men array that contain your maximum and minimum? 6 00:00:23,100 --> 00:00:25,830 ‫You two use three and you for values? 7 00:00:26,460 --> 00:00:33,840 ‫Well, now I'm going to take those two arrays and I'm going to put them here so that my embassy simplification 8 00:00:33,840 --> 00:00:35,250 ‫function could accept them. 9 00:00:35,910 --> 00:00:39,720 ‫So in section eight, I did not have these two variables here. 10 00:00:40,320 --> 00:00:44,220 ‫And so now we are inside our embassy simplification function. 11 00:00:44,880 --> 00:00:48,780 ‫And you can see that here it is accepting these two arrays. 12 00:00:49,020 --> 00:00:50,430 ‫Why IMAX and why men? 13 00:00:50,910 --> 00:00:57,600 ‫And there are not many additions in this function, either, but there are a couple, for example, 14 00:00:57,600 --> 00:00:58,140 ‫here. 15 00:00:58,170 --> 00:01:05,550 ‫I also have constraints which the function needs to know if you want to consider constraints or not. 16 00:01:06,120 --> 00:01:13,740 ‫And so if it equals one meaning that you want to consider constraints, then first of all, I extract 17 00:01:14,040 --> 00:01:15,360 ‫this matrix here. 18 00:01:15,960 --> 00:01:16,890 ‫It's this one. 19 00:01:17,580 --> 00:01:18,540 ‫Tilde star. 20 00:01:19,110 --> 00:01:26,400 ‫You used it to extract your you to use three and you four values from your augment that state vectors. 21 00:01:27,030 --> 00:01:32,160 ‫And so you have this matrix here now and now, this matrix here. 22 00:01:32,760 --> 00:01:36,900 ‫For now, it's a zero matrix, but this variable. 23 00:01:37,560 --> 00:01:39,780 ‫It's meant for this matrix here. 24 00:01:40,420 --> 00:01:42,240 ‫See Tilde Star Global. 25 00:01:42,870 --> 00:01:52,370 ‫Remember, the purpose of this matrix was to extract your YouTube Q3 and Q4 values from all these predicted 26 00:01:52,380 --> 00:01:53,880 ‫augment that state vectors. 27 00:01:54,480 --> 00:02:02,070 ‫That's why these small C till the stars they were positioned here in such a way diagonally. 28 00:02:02,670 --> 00:02:11,760 ‫Because then you will be able to extract all your Q2, Q3 and Q4 values from all these augmented predicted 29 00:02:11,760 --> 00:02:12,660 ‫state vectors. 30 00:02:13,290 --> 00:02:17,610 ‫But it's important to note that this is a zero matrix. 31 00:02:18,030 --> 00:02:20,370 ‫You see, I have no p dot zeros. 32 00:02:21,060 --> 00:02:25,770 ‫Meaning that I don't have these c tilde the star matrix here. 33 00:02:26,370 --> 00:02:35,580 ‫For now, I simply create a matrix that has the same dimensions like this one here, but all the elements 34 00:02:35,580 --> 00:02:36,330 ‫are zeros. 35 00:02:36,990 --> 00:02:43,800 ‫And then later on, I will start putting these C2, the star matrices inside this global one. 36 00:02:44,370 --> 00:02:46,380 ‫But for now, it's just a zero matrix. 37 00:02:47,040 --> 00:02:49,170 ‫So I am pretty finding this matrix. 38 00:02:49,530 --> 00:02:58,650 ‫I'm giving it the right dimensions, and I'm doing the same thing with y max global and y minimum global. 39 00:02:59,280 --> 00:03:04,560 ‫They are zero vectors, but they have the same dimensions like this vector here. 40 00:03:05,190 --> 00:03:11,160 ‫And then later on, I will have this vector and I will have this vector here. 41 00:03:11,760 --> 00:03:19,170 ‫So all these y star means they are the same and all these y star max is they are the same. 42 00:03:19,740 --> 00:03:23,040 ‫They are these ones here, y max in women. 43 00:03:23,730 --> 00:03:29,610 ‫They contain your you three and you for maximum and minimum values. 44 00:03:30,270 --> 00:03:33,840 ‫So this vector here you two men, u three women and u. 45 00:03:33,840 --> 00:03:36,420 ‫Four men, it's this one here. 46 00:03:37,080 --> 00:03:38,700 ‫It's also this one here. 47 00:03:39,360 --> 00:03:42,930 ‫It's also this one here, and it's also this one here. 48 00:03:43,560 --> 00:03:45,090 ‫And then this vector here. 49 00:03:45,720 --> 00:03:51,090 ‫It's this one, this one, this one and this one. 50 00:03:51,540 --> 00:03:58,530 ‫So you can see that all these y star minimums are the same and also all these y star maximums, they 51 00:03:58,530 --> 00:03:59,490 ‫are also the same. 52 00:04:00,120 --> 00:04:09,210 ‫And so this y star global minimum and y star global maximum, they are these ones here, but at the 53 00:04:09,210 --> 00:04:12,450 ‫beginning they are just zero vectors. 54 00:04:13,080 --> 00:04:18,660 ‫So I'm simply pre defining these vectors and giving them the right dimensions. 55 00:04:19,290 --> 00:04:22,110 ‫But at this moment, they're all zeros. 56 00:04:22,650 --> 00:04:31,470 ‫And then later on, I'm going to start putting y star men and y star max inside these big global vectors. 57 00:04:32,130 --> 00:04:37,080 ‫And well, if I choose not to use constraints, then I just make them zero. 58 00:04:37,710 --> 00:04:45,150 ‫Since this function needs to return this variable, this variable and this variable, even if I don't 59 00:04:45,150 --> 00:04:49,140 ‫use constraints, I have to give them some kind of values. 60 00:04:49,800 --> 00:04:51,360 ‫Otherwise, I'm going to get an error. 61 00:04:51,960 --> 00:04:56,490 ‫But if I don't use constraints, I'm not going to be using these variables anymore. 62 00:04:57,030 --> 00:05:00,150 ‫And so when we go down, then everything else. 63 00:05:00,280 --> 00:05:06,730 ‫Would be like in section eight, except here and also here. 64 00:05:07,330 --> 00:05:17,290 ‫So remember, now I'm inside this loop where I generate my cue a bar T double bar and RW bar matrices. 65 00:05:17,950 --> 00:05:26,200 ‫But if I choose to consider constraints, then I also have one line here and one line here. 66 00:05:26,860 --> 00:05:33,130 ‫Essentially, what I'm doing here, I'm generating this seed till the global star matrix. 67 00:05:33,820 --> 00:05:41,560 ‫So every loop I put a new C tilde star inside my C to the Star Global Matrix. 68 00:05:42,220 --> 00:05:46,750 ‫So in the first loop, I put the C to a star here in this position. 69 00:05:47,140 --> 00:05:49,870 ‫In the second loop, I put it in this position. 70 00:05:50,260 --> 00:05:54,310 ‫Then I put it in this position and then I put it in this position here. 71 00:05:54,910 --> 00:06:00,630 ‫So after four loops, I will have my filled in C till the Star Global Matrix. 72 00:06:01,240 --> 00:06:10,780 ‫And well, all this here is just to make sure that I put this seat till the star in the right position 73 00:06:11,350 --> 00:06:14,290 ‫so that I would have the right roles and columns. 74 00:06:14,950 --> 00:06:24,070 ‫And then if we go down, then here we generated our C double bar matrix and also our a double circle 75 00:06:24,070 --> 00:06:24,940 ‫flex matrix. 76 00:06:25,720 --> 00:06:29,920 ‫They were these ones here, c double bar and a double circuit flex. 77 00:06:30,550 --> 00:06:40,210 ‫But now if I consider my constraints, then I also generate my y max global and Y men global vectors. 78 00:06:40,900 --> 00:06:44,830 ‫They are these ones here and here again. 79 00:06:45,340 --> 00:06:54,970 ‫Since I'm inside the loop, then every loop I take one y star men and one y star max vector. 80 00:06:55,600 --> 00:06:59,980 ‫And then I put them inside these global vectors. 81 00:07:00,640 --> 00:07:05,980 ‫So in the first loop, this goes here and this goes here in the second loop. 82 00:07:06,160 --> 00:07:08,500 ‫This goes here and this goes here. 83 00:07:09,250 --> 00:07:15,250 ‫The third loop would put them here, and then the fourth loop would put them here. 84 00:07:15,850 --> 00:07:24,820 ‫And so your zero y star global minimum and Weisser Global maximum vectors will become the ones that 85 00:07:24,820 --> 00:07:34,390 ‫contain your you two, you U3 amine and you four men and your you two max, U3 Max and you four max 86 00:07:35,020 --> 00:07:37,600 ‫in the order as they are shown here. 87 00:07:38,200 --> 00:07:46,120 ‫And again, what you have here in the brackets and also what you have here in the brackets, it's just 88 00:07:46,120 --> 00:07:55,390 ‫there to position these y star men and y star max sub vectors in the right places inside these global 89 00:07:55,390 --> 00:07:55,990 ‫vectors. 90 00:07:56,590 --> 00:07:58,030 ‫And then we go down. 91 00:07:58,690 --> 00:08:07,300 ‫And then this function in PC simplification, it takes these three extra variables see till the Star 92 00:08:07,300 --> 00:08:16,090 ‫Global and then whilst our global minimum and y star global maximum and it gives them back to the main 93 00:08:16,090 --> 00:08:24,760 ‫file, which is right here, you see, this is your C2, the Star Global Y Max Global and Women Global.