I have three angles representing a rotation (Pitch, roll and yaw). I need the inverse rotation (working on coordinate system transforms).
What I do now is transforming these angle to a rotation matrix ([using Rodrigues formula](http://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula) implemented in OpenCV) then calculate the inverse rotation matrix and finally use Rodrigues formula again to get the inverse angles.
With an angle input of 

[0; -0.34906585; 3.14159265]

I get as output 

[0; -0.3447958920828952; 3.103163028746057]

Which is very similar to the input. 
Does this make sense?