Is there an alternative to Matlab "makehgtform" function? (compatible with C/C++ code-generation)

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Pablo Minguijon Pallas 2017-7-15

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https://ww2.mathworks.cn/matlabcentral/answers/348846-is-there-an-alternative-to-matlab-makehgtform-function-compatible-with-c-c-code-generation

回答： Walter Roberson 2017-7-16

I am using the mentioned function (makehgtform) to create a rotation matrix around a 3D axis within a function that I wish to convert to C++, however it is apparently not compatible with code generation at the moment.

"The extrinsic function 'makehgtform' is not available for standalone code generation. It must be eliminated for stand-alone code to be generated. It could not be eliminated because its outputs appear to influence the calling function. Fix this error by not using 'makehgtform' or by ensuring that its outputs are unused."

I was wondering, is there any way to implement such rotation without the use of this function? What´s the underlying method that Matlab uses to calculate this rotation matrix? I haven´t been able to find it.

Thank you very much. Cheers.