首先根据matlab的版本下载对应的matlab运行库
matlab 各版本运行库下载地址：
https://ww2.mathworks.cn/products/compiler/matlab-runtime.html
-------------------------------------------------------------------------------------
如我下载安装在D:\v90
配置环境变量为：
#-------------------------------------------------
#
# Project created by QtCreator 2018-04-13T17:03:39
#
#-------------------------------------------------
QT += core gui
QT += network
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = MatlabAxis
TEMPLATE = app
SOURCES += main.cpp\
matlabaxis.cpp \
gameserv.cpp
HEADERS += matlabaxis.h \
gameserv.h
FORMS += matlabaxis.ui
win32: LIBS += -L$$PWD/lib/ -lSix_axis
INCLUDEPATH += $$PWD/.
DEPENDPATH += $$PWD/.
INCLUDEPATH += D:\v90\extern\include
DEPENDPATH += D:\v90\bin\win64
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -lmclmcrrt
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -lmclmcr
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -llibmx
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -llibmat
win32: LIBS += -L$$PWD/lib/ -lNdxDyPl
INCLUDEPATH += $$PWD/.
DEPENDPATH += $$PWD/.
-------------------------
这些就是matlab运行库要指定的
INCLUDEPATH += D:\v90\extern\include
DEPENDPATH += D:\v90\bin\win64
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -lmclmcrrt
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -lmclmcr
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -llibmx
win32: LIBS += -LD:\v90\extern\lib\win64\microsoft\ -llibmat-----------------------------------------------
如下matlab头文件如下
//
// MATLAB Compiler: 6.1 (R2015b)
// Date: Fri Apr 13 15:24:19 2018
// Arguments: "-B" "macro_default" "-W" "cpplib:Six_axis" "-T" "link:lib"
// "Six_axis_2.m"
//
#ifndef __Six_axis_h
#define __Six_axis_h 1
#if defined(__cplusplus) && !defined(mclmcrrt_h) && defined(__linux__)
# pragma implementation "mclmcrrt.h"
#endif
#include "mclmcrrt.h"
#include "mclcppclass.h"
#ifdef __cplusplus
extern "C" {
#endif
#if defined(__SUNPRO_CC)
/* Solaris shared libraries use __global, rather than mapfiles
* to define the API exported from a shared library. __global is
* only necessary when building the library -- files including
* this header file to use the library do not need the __global
* declaration; hence the EXPORTING_<library> logic.
*/
#ifdef EXPORTING_Six_axis
#define PUBLIC_Six_axis_C_API __global
#else
#define PUBLIC_Six_axis_C_API /* No import statement needed. */
#endif
#define LIB_Six_axis_C_API PUBLIC_Six_axis_C_API
#elif defined(_HPUX_SOURCE)
#ifdef EXPORTING_Six_axis
#define PUBLIC_Six_axis_C_API __declspec(dllexport)
#else
#define PUBLIC_Six_axis_C_API __declspec(dllimport)
#endif
#define LIB_Six_axis_C_API PUBLIC_Six_axis_C_API
#else
#define LIB_Six_axis_C_API
#endif
/* This symbol is defined in shared libraries. Define it here
* (to nothing) in case this isn't a shared library.
*/
#ifndef LIB_Six_axis_C_API
#define LIB_Six_axis_C_API /* No special import/export declaration */
#endif
extern LIB_Six_axis_C_API
bool MW_CALL_CONV Six_axisInitializeWithHandlers(
mclOutputHandlerFcn error_handler,
mclOutputHandlerFcn print_handler);
extern LIB_Six_axis_C_API
bool MW_CALL_CONV Six_axisInitialize(void);
extern LIB_Six_axis_C_API
void MW_CALL_CONV Six_axisTerminate(void);
extern LIB_Six_axis_C_API
void MW_CALL_CONV Six_axisPrintStackTrace(void);
extern LIB_Six_axis_C_API
bool MW_CALL_CONV mlxSix_axis_2(int nlhs, mxArray *plhs[], int nrhs, mxArray *prhs[]);
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
/* On Windows, use __declspec to control the exported API */
#if defined(_MSC_VER) || defined(__BORLANDC__)
#ifdef EXPORTING_Six_axis
#define PUBLIC_Six_axis_CPP_API __declspec(dllexport)
#else
#define PUBLIC_Six_axis_CPP_API __declspec(dllimport)
#endif
#define LIB_Six_axis_CPP_API PUBLIC_Six_axis_CPP_API
#else
#if !defined(LIB_Six_axis_CPP_API)
#if defined(LIB_Six_axis_C_API)
#define LIB_Six_axis_CPP_API LIB_Six_axis_C_API
#else
#define LIB_Six_axis_CPP_API /* empty! */
#endif
#endif
#endif
extern LIB_Six_axis_CPP_API void MW_CALL_CONV Six_axis_2(int nargout, mwArray& axis1, mwArray& axis2, mwArray& axis3, mwArray& axis4, mwArray& axis5, mwArray& axis6, const mwArray& a, const mwArray& b, const mwArray& g, const mwArray& X, const mwArray& Y, const mwArray& Z, const mwArray& num1, const mwArray& num2, const mwArray& num3, const mwArray& num4);
#endif
#endif
调用方式为：
if (!Six_axisInitialize()) {//先初始化
QMessageBox::critical(NULL,"init failed","init matlab failed",QMessageBox::Yes); return; } mwArray axis1(1, 1, mxDOUBLE_CLASS);
mwArray axis2(1, 1, mxDOUBLE_CLASS);
mwArray axis3(1, 1, mxDOUBLE_CLASS);
mwArray axis4(1, 1, mxDOUBLE_CLASS);
mwArray axis5(1, 1, mxDOUBLE_CLASS);
mwArray axis6(1, 1, mxDOUBLE_CLASS);
mwArray a(1, 1, mxDOUBLE_CLASS);
mwArray b(1, 1, mxDOUBLE_CLASS);
mwArray c(1, 1, mxDOUBLE_CLASS);
mwArray X(1, 1, mxDOUBLE_CLASS);
mwArray Y(1, 1, mxDOUBLE_CLASS);
mwArray Z(1, 1, mxDOUBLE_CLASS);
mwArray num1(1, 1, mxDOUBLE_CLASS);
mwArray num2(1, 1, mxDOUBLE_CLASS);
mwArray num3(1, 1, mxDOUBLE_CLASS);
mwArray num4(1, 1, mxDOUBLE_CLASS);
num1(1, 1) = m_num1;
num2(1, 1) = m_num2;
num3(1, 1) = m_num3;
num4(1, 1) = m_num4;
a(1, 1) = angleX;
b(1, 1) = angleY;
c(1, 1) = angleZ;
X(1, 1) = offsetX;
Y(1, 1) = offsetY;
Z(1, 1) = offsetZ;
axis1(1, 1) = 0;
axis2(1, 1) = 0;
axis3(1, 1) = 0;
axis4(1, 1) = 0;
axis5(1, 1) = 0;
axis6(1, 1) = 0;
int ax1 = 0, ax2 = 0, ax3 = 0, ax4 = 0, ax5 = 0, ax6 = 0;
Six_axis_2(6, axis1, axis2,axis3, axis4,axis5,axis6, a, b,c,X,Y, Z, num1, num2, num3, num4);//这个6表示输出的参数个数
axis1.GetData(&ax1, 1);
axis2.GetData(&ax2, 1);
axis3.GetData(&ax3, 1);
axis4.GetData(&ax4, 1);
axis5.GetData(&ax5, 1);
axis6.GetData(&ax6, 1);
ui->lab_axis_1->setText(QString::number(ax1));
ui->lab_axis_2->setText(QString::number(ax2));
ui->lab_axis_3->setText(QString::number(ax3));
ui->lab_axis_4->setText(QString::number(ax4));
ui->lab_axis_5->setText(QString::number(ax5));
ui->lab_axis_6->setText(QString::number(ax6));