How to do np.interp in CasADi

demo.py

import casadi as cs
import numpy as np

xp = [1, 2, 3]
fp = [3, 2, 0]

x = [2.5,1.1]

print(np.interp(x=x,xp=xp,fp=fp))

# np.interp as CasADi Function
# Note: CasADi functions always need fixed dimensions

grid = [len(xp)] # size of grid, list is used since can be multi-dimensional
cs_interp = cs.interpolant('cs_interp','linear',grid,1,{"inline": True})

print(cs_interp)
# Using broadcasting on first argument to obtain an evaluation for all values in x
print(cs_interp(cs.DM(x).T,xp,fp))