function Sp = find_cov(pred)%% Nonlinear Filtering Toolbox version 2.0-rc4% Copyright (c) 1995 - 2007 NFT developement Team,%              Department of Cybernetics,%              University of West Bohemia in Pilsen% checking whether pred is of class gpdf or 'only' a structureif isa(pred,'gpdf')    Sp = chol(pred.var');            % decomposition of predictive covarianceelse    Sp = pred.sqrtvar;               % predictive covariance from previous prediction stepend;