欧拉角xyz转zyz，旋转矩阵

#include <math.h>
#include <iostream>
using namespace std;
float *UR_Euler_rotationvector(float *iEulerxyz);
float *UR_Euler_xyz2zyz(float *iEulerxyz);
int main()
{
int i = 0;
float iEulerxyz[3] = {90,20,90};
float *iEulerzyz;
iEulerzyz=UR_Euler_xyz2zyz(iEulerxyz);
float thrtaZ0 = iEulerzyz[0];
float thrtaY = iEulerzyz[1];
float thrtaZ1 = iEulerzyz[2];
return 0;
}
float *UR_Euler_xyz2zyz(float *iEulerxyz)
{
float Eulerzyz[3] = { 0, 0, 0 };
float Eulerxyz[3] = { 0, 0, 0 };
float Translate_angle[9];
for (int _a2r = 0; _a2r<3; _a2r++)
{
Eulerxyz[_a2r] = float(iEulerxyz[_a2r] * (3.141592653589793 / 180));//弧度 = 角度 * π  / 180
}
//N///zyx-旋转
Translate_angle[0] = cos(Eulerxyz[1])*cos(Eulerxyz[2]);
Translate_angle[1] = cos(Eulerxyz[0])*sin(Eulerxyz[2]) + cos(Eulerxyz[2])*sin(Eulerxyz[0])*sin(Eulerxyz[1]);
Translate_angle[2] = sin(Eulerxyz[0])*sin(Eulerxyz[2]) - cos(Eulerxyz[0])*cos(Eulerxyz[2])*sin(Eulerxyz[1]);
//O/