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This paper considers the problem of space-frequency code design for frequency-selective multiple-input-multiple-output (MIMO) orthogonal frequency division multiplexing (OFDM) modulation. We show that space-time codes achieving full diversity in quasistatic flat fading environment can be used to construct space-frequency codes that can achieve the maximum diversity available in frequency-selective MIMO fading channels. Since the codes are constructed via a simple mapping from space-time codes to space-frequency codes, the abundant classes of existing space-time block and trellis codes can be used for full diversity transmission in MIMO-OFDM systems. The proposed mapping provides a tradeoff between the achieved diversity order and the symbol rate. Moreover, we characterize the performance of the space-frequency codes obtained via the mapping by finding lower and upper bounds on their coding advantages as functions of the coding advantages of the underlying space-time codes. This result will allow us to investigate the effects of the delay distribution and the power distribution of the channel impulse responses on the performance of the resulting space-frequency codes. Extensive simulation results are also presented to illustrate and support the theory.