 90%%;" class="examples">
%&nbsp;Create&nbsp;symbolic&nbsp;variables
syms&nbsp;q1&nbsp;q2&nbsp;q3
</pre>
<pre style="width: 90%%;" class="examples">
Q&nbsp;=&nbsp;[q1&nbsp;q2&nbsp;q3];
%&nbsp;Create&nbsp;symbolic&nbsp;expression
myrot&nbsp;=&nbsp;rotz(q3)*roty(q2)*rotx(q1)
</pre>
<pre style="width: 90%%;" class="examples">
%&nbsp;Generate&nbsp;C-function&nbsp;string
[funstr,&nbsp;hdrstr]&nbsp;=&nbsp;ccodefunctionstring(myrot,'output','foo',&nbsp;...
'vars',{Q},'funname','rotate_xyz')
</pre>
<h2>Notes</h2>
<