Callback and Jacobean Matlab

[Julian Balletshofer]

Hi,

i am currently trying since some time to solve the issue.

My goal is to implement a callback that calculates the dynamics and the Jacobian of it. Here the dynamics and the Jacobean are defined via and object. Later I want to include a GPR in the dynamics aswell.

here the code. https://gist.github.com/JuliBaCSE/decb975b07d3d8f0e594cd4f8856ab9d

Currently, the Solver takes very long and I am not sure if correclty implemented it.

Is it in general possible to use it like this and achieve real time performance or do I need to reformulate, especially when I start using the gp ?

Would highly appreciate some help. Thank you very much!

all best 

julian