user: 请将这段汇编代码片段转换成等效的C代码:

```asm
<doubles_xytcov_inv>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0xb0,%rsp
  mov    %rdi,-0x98(%rbp)
  mov    %rsi,-0xa0(%rbp)
  mov    %rdx,-0xa8(%rbp)
  mov    %rcx,-0xb0(%rbp)
  mov    -0x98(%rbp),%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x88(%rbp)
  mov    -0x98(%rbp),%rax
  add    $0x8,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x80(%rbp)
  mov    -0x98(%rbp),%rax
  add    $0x10,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x78(%rbp)
  mov    -0x78(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x70(%rbp)
  mov    -0x78(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x68(%rbp)
  movsd  -0x68(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,-0x60(%rbp)
  movsd  -0x70(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,-0x58(%rbp)
  movsd  -0x68(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x80(%rbp),%xmm1
  movsd  -0x70(%rbp),%xmm0
  mulsd  -0x88(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movsd  -0x70(%rbp),%xmm0
  movsd  %xmm0,-0x48(%rbp)
  movsd  -0x68(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,-0x40(%rbp)
  movsd  -0x70(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x80(%rbp),%xmm1
  movsd  -0x68(%rbp),%xmm0
  mulsd  -0x88(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  mov    -0xa0(%rbp),%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x30(%rbp)
  mov    -0xa0(%rbp),%rax
  add    $0x8,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x28(%rbp)
  mov    -0xa0(%rbp),%rax
  add    $0x10,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x20(%rbp)
  mov    -0xa0(%rbp),%rax
  add    $0x20,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x18(%rbp)
  mov    -0xa0(%rbp),%rax
  add    $0x28,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x10(%rbp)
  mov    -0xa0(%rbp),%rax
  add    $0x40,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x8(%rbp)
  movsd  -0x30(%rbp),%xmm0
  mulsd  -0x60(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x60(%rbp),%xmm1
  movsd  -0x28(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x60(%rbp),%xmm0
  mulsd  -0x58(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x20(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x60(%rbp),%xmm0
  mulsd  -0x50(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x18(%rbp),%xmm0
  mulsd  -0x58(%rbp),%xmm0
  mulsd  -0x58(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x10(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x58(%rbp),%xmm0
  mulsd  -0x50(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x8(%rbp),%xmm0
  mulsd  -0x50(%rbp),%xmm0
  mulsd  -0x50(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  mov    -0xb0(%rbp),%rax
  movsd  %xmm0,(%rax)
  movsd  -0x60(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x30(%rbp),%xmm1
  movsd  -0x58(%rbp),%xmm0
  mulsd  -0x28(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x50(%rbp),%xmm0
  mulsd  -0x20(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x48(%rbp),%xmm1
  movsd  -0x60(%rbp),%xmm0
  movapd %xmm0,%xmm2
  mulsd  -0x28(%rbp),%xmm2
  movsd  -0x58(%rbp),%xmm0
  mulsd  -0x18(%rbp),%xmm0
  addsd  %xmm0,%xmm2
  movsd  -0x50(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  addsd  %xmm2,%xmm0
  mulsd  -0x40(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x60(%rbp),%xmm0
  movapd %xmm0,%xmm2
  mulsd  -0x20(%rbp),%xmm2
  movsd  -0x58(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  addsd  %xmm0,%xmm2
  movsd  -0x50(%rbp),%xmm0
  mulsd  -0x8(%rbp),%xmm0
  addsd  %xmm2,%xmm0
  mulsd  -0x38(%rbp),%xmm0
  mov    -0xb0(%rbp),%rax
  add    $0x8,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x60(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  mulsd  -0x20(%rbp),%xmm0
  movsd  -0x58(%rbp),%xmm1
  mulsd  -0x10(%rbp),%xmm1
  subsd  %xmm1,%xmm0
  movsd  -0x50(%rbp),%xmm1
  mulsd  -0x8(%rbp),%xmm1
  mov    -0xb0(%rbp),%rax
  add    $0x10,%rax
  subsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0xb0(%rbp),%rax
  lea    0x18(%rax),%rdx
  mov    -0xb0(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,(%rdx)
  movsd  -0x30(%rbp),%xmm0
  mulsd  -0x48(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x48(%rbp),%xmm1
  movsd  -0x28(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x48(%rbp),%xmm0
  mulsd  -0x40(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x20(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x48(%rbp),%xmm0
  mulsd  -0x38(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x18(%rbp),%xmm0
  mulsd  -0x40(%rbp),%xmm0
  mulsd  -0x40(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x10(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  mulsd  -0x40(%rbp),%xmm0
  mulsd  -0x38(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x8(%rbp),%xmm0
  mulsd  -0x38(%rbp),%xmm0
  mulsd  -0x38(%rbp),%xmm0
  mov    -0xb0(%rbp),%rax
  add    $0x20,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x48(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  mulsd  -0x20(%rbp),%xmm0
  movsd  -0x40(%rbp),%xmm1
  mulsd  -0x10(%rbp),%xmm1
  subsd  %xmm1,%xmm0
  movsd  -0x38(%rbp),%xmm1
  mulsd  -0x8(%rbp),%xmm1
  mov    -0xb0(%rbp),%rax
  add    $0x28,%rax
  subsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0xb0(%rbp),%rax
  lea    0x30(%rax),%rdx
  mov    -0xb0(%rbp),%rax
  movsd  0x10(%rax),%xmm0
  movsd  %xmm0,(%rdx)
  mov    -0xb0(%rbp),%rax
  lea    0x38(%rax),%rdx
  mov    -0xb0(%rbp),%rax
  movsd  0x28(%rax),%xmm0
  movsd  %xmm0,(%rdx)
  mov    -0xb0(%rbp),%rax
  add    $0x40,%rax
  movsd  -0x8(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x70(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  mulsd  -0x80(%rbp),%xmm0
  movsd  -0x68(%rbp),%xmm1
  mulsd  -0x88(%rbp),%xmm1
  subsd  %xmm1,%xmm0
  mov    -0xa8(%rbp),%rax
  movsd  %xmm0,(%rax)
  movsd  -0x68(%rbp),%xmm0
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x80(%rbp),%xmm1
  movsd  -0x70(%rbp),%xmm0
  mulsd  -0x88(%rbp),%xmm0
  mov    -0xa8(%rbp),%rax
  add    $0x8,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x98(%rbp),%rax
  add    $0x10,%rax
  movsd  (%rax),%xmm0
  mov    -0xa8(%rbp),%rax
  add    $0x10,%rax
  movq   D70(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  nop
  leave
  ret
```

tool_calls: name: disassemble_data
arguments: label: D70
data_type: f32[2]

tool: {"D70": [0.0,-0.0]}

assistant: ```c
void doubles_xytcov_inv(const double xyta[3], const double Ca[9], double xytr[3], double Cr[9]) {
  double x = xyta[0], y = xyta[1], theta = xyta[2];
  double s = (double)sin(theta), c = (double)cos(theta);
  double J11 = -c, J12 = -s, J13 = -c * y + s * x;
  double J21 = s, J22 = -c, J23 = s * y + c * x;
  double P11 = Ca[0], P12 = Ca[1], P13 = Ca[2];
  double P22 = Ca[4], P23 = Ca[5];
  double P33 = Ca[8];
  Cr[0] = P11 * J11 * J11 + 2 * P12 * J11 * J12 + 2 * P13 * J11 * J13 + P22 * J12 * J12 + 2 * P23 * J12 * J13 + P33 * J13 * J13;
  Cr[1] = J21 * (J11 * P11 + J12 * P12 + J13 * P13) + J22 * (J11 * P12 + J12 * P22 + J13 * P23) + J23 * (J11 * P13 + J12 * P23 + J13 * P33);
  Cr[2] = -J11 * P13 - J12 * P23 - J13 * P33;
  Cr[3] = Cr[1];
  Cr[4] = P11 * J21 * J21 + 2 * P12 * J21 * J22 + 2 * P13 * J21 * J23 + P22 * J22 * J22 + 2 * P23 * J22 * J23 + P33 * J23 * J23;
  Cr[5] = -J21 * P13 - J22 * P23 - J23 * P33;
  Cr[6] = Cr[2];
  Cr[7] = Cr[5];
  Cr[8] = P33;
  xytr[0] = -s * y - c * x;
  xytr[1] = -c * y + s * x;
  xytr[2] = -xyta[2];
}
```