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[SPARK-10884][ML] Support prediction on single instance for regressio…
…n and classification related models ## What changes were proposed in this pull request? Support prediction on single instance for regression and classification related models (i.e., PredictionModel, ClassificationModel and their sub classes). Add corresponding test cases. ## How was this patch tested? Test cases added. Author: WeichenXu <weichen.xu@databricks.com> Closes #19381 from WeichenXu123/single_prediction.
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