MATLAB/Simulink code update

Matlab_scripts/gpCallback.m

@@ -0,0 +1,39 @@
+classdef gpCallback < casadi.Callback
+  properties
+    model
+  end
+  methods
+    function self = gpCallback(name)
+      self@casadi.Callback();
+      construct(self, name, struct('enable_fd', true));
+    end
+
+    % Number of inputs and outputs
+    function v=get_n_in(self)
+      v=1;
+    end
+    function v=get_n_out(self)
+      v=1;
+    end
+    % Function sparsity
+    function v=get_sparsity_in(self, i)
+      v=casadi.Sparsity.dense(7, 1);
+    end
+
+    % Initialize the object
+    function init(self)
+      disp('initializing gpCallback')
+      gpr = load('gpr_model.mat', 'model');
+      self.model = gpr.model;
+    end
+
+    % Evaluate numerically
+    function arg = eval(self, arg)
+      x = full(arg{1});
+      % Transpose x since gp predictor takes row by row, and casadi gives
+      % colum by column
+      [mean, ~] = predict(self.model, x');
+      arg = {mean};
+    end
+  end
+end