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Orthogonal space-time block codes provide full diversity, and maximum-likelihood (ML) decoding for orthogonal codes can be realized on a symbol-by-symbol basis. It has been shown that rate-one complex orthogonal codes do not exist for systems with more than two transmit antennas. For a general system with N transmit and M receive antennas, it is very desirable to design rate-one complex codes with full diversity. In this letter, we provide a systematic method of designing rate-one codes (real or complex) for a general multiple-input multiple-output system. Full diversity of these codes is then achieved by constellation rotation. A generalized, reduced-complexity decoding method for rate-one codes is also provided.