How can I create a visualization of a line of vision from a static point to a moving point in a plot?

I'm doing a research on a camera on a vehicle that follows a trailer. To visualize the error in the control of the camera I want to plot a line that represents the line of vision of the camera (from the static camera position to where the control "thinks" the trailer is) and the actual location of the trailer changing over time. As input I have the Camera X and Y coordinates (static), the angle at which the camera is rotated (variable over time) and the trailer X and Y coordinates (variable over time).

any ideas?

thanks.