user: 请将以下的汇编代码转换成C语言代码:

```asm
<particleFilter>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  push   %rbx
  sub    $0x1f8,%rsp
  mov    %rdi,-0x1d8(%rbp)
  mov    %esi,-0x1dc(%rbp)
  mov    %edx,-0x1e0(%rbp)
  mov    %ecx,-0x1e4(%rbp)
  mov    %r8,-0x1f0(%rbp)
  mov    %r9d,-0x1e8(%rbp)
  mov    -0x1dc(%rbp),%eax
  imul   -0x1e0(%rbp),%eax
  mov    -0x1e4(%rbp),%edx
  imul   %edx,%eax
  mov    %eax,-0x1b4(%rbp)
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x188(%rbp)
  pxor   %xmm0,%xmm0
  cvtsi2sdl -0x1e0(%rbp),%xmm0
  movsd  D102(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %eax,%xmm0
  movsd  %xmm0,-0x1a0(%rbp)
  pxor   %xmm0,%xmm0
  cvtsi2sdl -0x1dc(%rbp),%xmm0
  movsd  D102(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %eax,%xmm0
  movsd  %xmm0,-0x198(%rbp)
  movl   $0x5,-0x1b0(%rbp)
  mov    -0x1b0(%rbp),%eax
  add    %eax,%eax
  sub    $0x1,%eax
  mov    %eax,-0x1ac(%rbp)
  mov    -0x1ac(%rbp),%eax
  imul   %eax,%eax
  cltq
  shl    $0x2,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x180(%rbp)
  mov    -0x1b0(%rbp),%edx
  mov    -0x180(%rbp),%rax
  mov    %edx,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <strelDisk@plt>
  movl   $0x0,-0x1cc(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L289
L170:
  movl   $0x0,-0x1c4(%rbp)
  jmp    L357
L154:
  mov    -0x1c8(%rbp),%eax
  imul   -0x1ac(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x180(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  cmp    $0x1,%eax
  jne    L14
  addl   $0x1,-0x1cc(%rbp)
L14:
  addl   $0x1,-0x1c4(%rbp)
L357:
  mov    -0x1c4(%rbp),%eax
  cmp    -0x1ac(%rbp),%eax
  jl     L154
  addl   $0x1,-0x1c8(%rbp)
L289:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1ac(%rbp),%eax
  jl     L170
  mov    -0x1cc(%rbp),%eax
  add    %eax,%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x178(%rbp)
  mov    -0x1b0(%rbp),%ecx
  mov    -0x178(%rbp),%rdx
  mov    -0x1cc(%rbp),%esi
  mov    -0x180(%rbp),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <getneighbors@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x170(%rbp)
  mov    -0x170(%rbp),%rdx
  mov    -0x188(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D330(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x168(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x160(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L128
L243:
  pxor   %xmm1,%xmm1
  cvtsi2sdl -0x1e8(%rbp),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  D294(%rip),%xmm0
  divsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L128:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L243
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x158(%rbp)
  mov    -0x158(%rbp),%rax
  sub    -0x160(%rbp),%rax
  mov    %rax,%rsi
  lea    D291(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x150(%rbp)
  mov    -0x150(%rbp),%rdx
  mov    -0x170(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D244(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x148(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x140(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x138(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x130(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x128(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x120(%rbp)
  mov    -0x1e8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x118(%rbp)
  mov    -0x1cc(%rbp),%eax
  movslq %eax,%rdx
  mov    -0x1e8(%rbp),%eax
  cltq
  imul   %rdx,%rax
  shl    $0x2,%rax
  mov    %rax,%rdi
  call   <malloc@plt>
  mov    %rax,-0x110(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x108(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L229
L70:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x140(%rbp),%rax
  add    %rdx,%rax
  movsd  -0x1a0(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x138(%rbp),%rax
  add    %rdx,%rax
  movsd  -0x198(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L229:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L70
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x100(%rbp)
  mov    -0x100(%rbp),%rax
  sub    -0x108(%rbp),%rax
  mov    %rax,%rsi
  lea    D156(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  mov    %eax,%edx
  mov    -0x150(%rbp),%rax
  mov    %edx,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D345(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  movl   $0x1,-0x1c0(%rbp)
  jmp    L248
L323:
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0xf8(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xf0(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L81
L361:
  mov    -0x1c8(%rbp),%edx
  mov    -0x1f0(%rbp),%rax
  mov    %edx,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <randn@plt>
  mov    %eax,%edx
  mov    %edx,%eax
  shl    $0x2,%eax
  add    %edx,%eax
  lea    0x1(%rax),%edx
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x140(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rax),%xmm1
  pxor   %xmm0,%xmm0
  cvtsi2sd %edx,%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x140(%rbp),%rax
  add    %rdx,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x1c8(%rbp),%edx
  mov    -0x1f0(%rbp),%rax
  mov    %edx,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <randn@plt>
  sub    $0x1,%eax
  lea    (%rax,%rax,1),%edx
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x138(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rax),%xmm1
  pxor   %xmm0,%xmm0
  cvtsi2sd %edx,%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x138(%rbp),%rax
  add    %rdx,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L81:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L361
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xe8(%rbp)
  mov    -0xe8(%rbp),%rax
  sub    -0xf0(%rbp),%rax
  mov    %rax,%rsi
  lea    D62(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0xe0(%rbp)
  mov    -0xe0(%rbp),%rdx
  mov    -0xf8(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D245(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xd8(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L200
L264:
  movl   $0x0,-0x1c4(%rbp)
  jmp    L17
L221:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x140(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm1,%xmm1
  cvtsi2sd %eax,%xmm1
  mov    -0x1c4(%rbp),%eax
  add    %eax,%eax
  cltq
  add    $0x1,%rax
  lea    0x0(,%rax,8),%rdx
  mov    -0x178(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  addsd  %xmm1,%xmm0
  cvttsd2si %xmm0,%eax
  mov    %eax,-0x1a8(%rbp)
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x138(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm1,%xmm1
  cvtsi2sd %eax,%xmm1
  mov    -0x1c4(%rbp),%eax
  add    %eax,%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x178(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  addsd  %xmm1,%xmm0
  cvttsd2si %xmm0,%eax
  mov    %eax,-0x1a4(%rbp)
  mov    -0x1a8(%rbp),%eax
  imul   -0x1e0(%rbp),%eax
  imul   -0x1e4(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1a4(%rbp),%eax
  imul   -0x1e4(%rbp),%eax
  add    %eax,%edx
  mov    -0x1c0(%rbp),%eax
  add    %edx,%eax
  pxor   %xmm0,%xmm0
  cvtsi2sd %eax,%xmm0
  movq   D175(%rip),%xmm1
  andpd  %xmm1,%xmm0
  mov    -0x1c8(%rbp),%eax
  imul   -0x1cc(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x110(%rbp),%rax
  add    %rax,%rdx
  cvttsd2si %xmm0,%eax
  mov    %eax,(%rdx)
  mov    -0x1c8(%rbp),%eax
  imul   -0x1cc(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x110(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  cmp    %eax,-0x1b4(%rbp)
  jg     L138
  mov    -0x1c8(%rbp),%eax
  imul   -0x1cc(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x110(%rbp),%rax
  add    %rdx,%rax
  movl   $0x0,(%rax)
L138:
  addl   $0x1,-0x1c4(%rbp)
L17:
  mov    -0x1c4(%rbp),%eax
  cmp    -0x1cc(%rbp),%eax
  jl     L221
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  movl   $0x0,-0x1c4(%rbp)
  jmp    L339
L44:
  mov    -0x1c8(%rbp),%eax
  imul   -0x1cc(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x110(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x1d8(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  sub    $0x64,%eax
  pxor   %xmm7,%xmm7
  cvtsi2sd %eax,%xmm7
  movq   %xmm7,%rax
  movsd  D102(%rip),%xmm0
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <pow@plt>
  movq   %xmm0,%rbx
  mov    -0x1c8(%rbp),%eax
  imul   -0x1cc(%rbp),%eax
  mov    %eax,%edx
  mov    -0x1c4(%rbp),%eax
  add    %edx,%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x110(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  cltq
  lea    0x0(,%rax,4),%rdx
  mov    -0x1d8(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%eax
  sub    $0xe4,%eax
  pxor   %xmm2,%xmm2
  cvtsi2sd %eax,%xmm2
  movq   %xmm2,%rax
  movsd  D102(%rip),%xmm0
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <pow@plt>
  movapd %xmm0,%xmm1
  movq   %rbx,%xmm0
  subsd  %xmm1,%xmm0
  movsd  D226(%rip),%xmm2
  movapd %xmm0,%xmm1
  divsd  %xmm2,%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c4(%rbp)
L339:
  mov    -0x1c4(%rbp),%eax
  cmp    -0x1cc(%rbp),%eax
  jl     L44
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  pxor   %xmm1,%xmm1
  cvtsi2sdl -0x1cc(%rbp),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  divsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L200:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L264
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xd0(%rbp)
  mov    -0xd0(%rbp),%rax
  sub    -0xd8(%rbp),%rax
  mov    %rax,%rsi
  lea    D352(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0xc8(%rbp)
  mov    -0xc8(%rbp),%rdx
  mov    -0xe0(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D295(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xc0(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L124
L97:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm6
  movsd  %xmm6,-0x1f8(%rbp)
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x148(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rax
  movq   %rax,%xmm0
  call   <exp@plt>
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  mulsd  -0x1f8(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L124:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L97
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xb8(%rbp)
  mov    -0xb8(%rbp),%rax
  sub    -0xc0(%rbp),%rax
  mov    %rax,%rsi
  lea    D161(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0xb0(%rbp)
  mov    -0xb0(%rbp),%rdx
  mov    -0xc8(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D183(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x190(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xa8(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L184
L118:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  movsd  -0x190(%rbp),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x190(%rbp)
  addl   $0x1,-0x1c8(%rbp)
L184:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L118
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0xa0(%rbp)
  mov    -0xa0(%rbp),%rax
  sub    -0xa8(%rbp),%rax
  mov    %rax,%rsi
  lea    D347(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x98(%rbp)
  mov    -0x98(%rbp),%rdx
  mov    -0xb0(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D180(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x90(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L342
L351:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  divsd  -0x190(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L342:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L351
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x88(%rbp)
  mov    -0x88(%rbp),%rax
  sub    -0x90(%rbp),%rax
  mov    %rax,%rsi
  lea    D318(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x80(%rbp)
  mov    -0x80(%rbp),%rdx
  mov    -0x98(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D146(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x1a0(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x198(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x78(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L9
L308:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x140(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  -0x1a0(%rbp),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x1a0(%rbp)
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x138(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  -0x198(%rbp),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x198(%rbp)
  addl   $0x1,-0x1c8(%rbp)
L9:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L308
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x70(%rbp)
  mov    -0x70(%rbp),%rax
  sub    -0x78(%rbp),%rax
  mov    %rax,%rsi
  lea    D96(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x68(%rbp)
  mov    -0x68(%rbp),%rdx
  mov    -0x80(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D216(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    -0x1a0(%rbp),%rax
  movq   %rax,%xmm0
  lea    D61(%rip),%rax
  mov    %rax,%rdi
  mov    $0x1,%eax
  call   <printf@plt>
  mov    -0x198(%rbp),%rax
  movq   %rax,%xmm0
  lea    D250(%rip),%rax
  mov    %rax,%rdi
  mov    $0x1,%eax
  call   <printf@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sdl -0x1e0(%rbp),%xmm0
  movsd  D102(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm1,%xmm1
  cvtsi2sd %eax,%xmm1
  movsd  -0x1a0(%rbp),%xmm0
  subsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movsd  D102(%rip),%xmm0
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <pow@plt>
  movsd  %xmm0,-0x1f8(%rbp)
  pxor   %xmm0,%xmm0
  cvtsi2sdl -0x1dc(%rbp),%xmm0
  movsd  D102(%rip),%xmm1
  movapd %xmm0,%xmm3
  divsd  %xmm1,%xmm3
  movq   %xmm3,%rax
  movq   %rax,%xmm0
  mov    $0x1,%eax
  call   <roundDouble@plt>
  pxor   %xmm1,%xmm1
  cvtsi2sd %eax,%xmm1
  movsd  -0x198(%rbp),%xmm0
  movapd %xmm0,%xmm4
  subsd  %xmm1,%xmm4
  movq   %xmm4,%rax
  movsd  D102(%rip),%xmm0
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <pow@plt>
  movapd %xmm0,%xmm5
  addsd  -0x1f8(%rbp),%xmm5
  movq   %xmm5,%rax
  movq   %rax,%xmm0
  call   <sqrt@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x60(%rbp)
  mov    -0x60(%rbp),%rax
  movq   %rax,%xmm0
  lea    D225(%rip),%rax
  mov    %rax,%rdi
  mov    $0x1,%eax
  call   <printf@plt>
  mov    -0x168(%rbp),%rax
  movsd  (%rax),%xmm0
  mov    -0x120(%rbp),%rax
  movsd  %xmm0,(%rax)
  movl   $0x1,-0x1c8(%rbp)
  jmp    L54
L91:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  shl    $0x3,%rax
  lea    -0x8(%rax),%rdx
  mov    -0x120(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x120(%rbp),%rax
  add    %rdx,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L54:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L91
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x58(%rbp)
  mov    -0x58(%rbp),%rdx
  mov    -0x68(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D200(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  pxor   %xmm1,%xmm1
  cvtsi2sdl -0x1e8(%rbp),%xmm1
  movsd  D294(%rip),%xmm0
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x1f8(%rbp)
  mov    -0x1f0(%rbp),%rax
  mov    $0x0,%esi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <randu@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %eax,%xmm0
  mulsd  -0x1f8(%rbp),%xmm0
  movsd  %xmm0,-0x50(%rbp)
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x48(%rbp)
  movl   $0x0,-0x1c8(%rbp)
  jmp    L267
L236:
  pxor   %xmm0,%xmm0
  cvtsi2sdl -0x1c8(%rbp),%xmm0
  pxor   %xmm1,%xmm1
  cvtsi2sdl -0x1e8(%rbp),%xmm1
  divsd  %xmm1,%xmm0
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x118(%rbp),%rax
  add    %rdx,%rax
  addsd  -0x50(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L267:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L236
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x40(%rbp)
  mov    -0x40(%rbp),%rax
  sub    -0x48(%rbp),%rax
  mov    %rax,%rsi
  lea    D11(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x38(%rbp)
  mov    -0x38(%rbp),%rdx
  mov    -0x58(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D205(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x30(%rbp)
  movl   $0x0,-0x1bc(%rbp)
  jmp    L362
L117:
  mov    -0x1bc(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x118(%rbp),%rax
  add    %rdx,%rax
  mov    (%rax),%rcx
  mov    -0x1e8(%rbp),%edx
  mov    -0x120(%rbp),%rax
  movq   %rcx,%xmm0
  mov    %edx,%esi
  mov    %rax,%rdi
  mov    $0x1,%eax
  call   <findIndex@plt>
  mov    %eax,-0x1b8(%rbp)
  cmpl   $0xffffffff,-0x1b8(%rbp)
  jne    L188
  mov    -0x1e8(%rbp),%eax
  sub    $0x1,%eax
  mov    %eax,-0x1b8(%rbp)
L188:
  mov    -0x1b8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x140(%rbp),%rax
  add    %rax,%rdx
  mov    -0x1bc(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x130(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rdx),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x1b8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x138(%rbp),%rax
  add    %rax,%rdx
  mov    -0x1bc(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x128(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rdx),%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1bc(%rbp)
L362:
  mov    -0x1bc(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L117
  mov    $0x0,%eax
  call   <current_time_ns@plt>
  cltq
  mov    %rax,-0x28(%rbp)
  mov    -0x28(%rbp),%rax
  sub    -0x30(%rbp),%rax
  mov    %rax,%rsi
  lea    D98(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x20(%rbp)
  mov    -0x20(%rbp),%rdx
  mov    -0x38(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D144(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  movl   $0x0,-0x1c8(%rbp)
  jmp    L358
L345:
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x130(%rbp),%rax
  add    %rax,%rdx
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x140(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rdx),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x128(%rbp),%rax
  add    %rax,%rdx
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rcx
  mov    -0x138(%rbp),%rax
  add    %rcx,%rax
  movsd  (%rdx),%xmm0
  movsd  %xmm0,(%rax)
  pxor   %xmm1,%xmm1
  cvtsi2sdl -0x1e8(%rbp),%xmm1
  mov    -0x1c8(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x168(%rbp),%rax
  add    %rdx,%rax
  movsd  D294(%rip),%xmm0
  divsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x1c8(%rbp)
L358:
  mov    -0x1c8(%rbp),%eax
  cmp    -0x1e8(%rbp),%eax
  jl     L345
  mov    $0x0,%eax
  call   <get_time@plt>
  cltq
  mov    %rax,-0x18(%rbp)
  mov    -0x18(%rbp),%rdx
  mov    -0x20(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <elapsed_time@plt>
  mov    %eax,%esi
  lea    D365(%rip),%rax
  mov    %rax,%rdi
  mov    $0x0,%eax
  call   <printf@plt>
  addl   $0x1,-0x1c0(%rbp)
L248:
  mov    -0x1c0(%rbp),%eax
  cmp    -0x1e4(%rbp),%eax
  jl     L323
  mov    -0x180(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x178(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x168(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x148(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x130(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x128(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x140(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x138(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x120(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x118(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  mov    -0x110(%rbp),%rax
  mov    %rax,%rdi
  call   <free@plt>
  nop
  mov    -0x8(%rbp),%rbx
  leave
  ret
```

tool_calls: name: read_data
arguments: tag: D102
datatype: f64
name: read_data
arguments: tag: D330
datatype: string
name: read_data
arguments: tag: D294
datatype: f64
name: read_data
arguments: tag: D291
datatype: string
name: read_data
arguments: tag: D244
datatype: string
name: read_data
arguments: tag: D156
datatype: string
name: read_data
arguments: tag: D345
datatype: string
name: read_data
arguments: tag: D62
datatype: string
name: read_data
arguments: tag: D245
datatype: string
name: read_data
arguments: tag: D175
datatype: qword
name: read_data
arguments: tag: D226
datatype: f64
name: read_data
arguments: tag: D352
datatype: string
name: read_data
arguments: tag: D295
datatype: string
name: read_data
arguments: tag: D161
datatype: string
name: read_data
arguments: tag: D183
datatype: string
name: read_data
arguments: tag: D347
datatype: string
name: read_data
arguments: tag: D180
datatype: string
name: read_data
arguments: tag: D318
datatype: string
name: read_data
arguments: tag: D146
datatype: string
name: read_data
arguments: tag: D96
datatype: string
name: read_data
arguments: tag: D216
datatype: string
name: read_data
arguments: tag: D61
datatype: string
name: read_data
arguments: tag: D250
datatype: string
name: read_data
arguments: tag: D225
datatype: string
name: read_data
arguments: tag: D200
datatype: string
name: read_data
arguments: tag: D11
datatype: string
name: read_data
arguments: tag: D205
datatype: string
name: read_data
arguments: tag: D98
datatype: string
name: read_data
arguments: tag: D144
datatype: string
name: read_data
arguments: tag: D365
datatype: string

tool: D102: 2

tool: D330: TIME TO GET NEIGHBORS TOOK: %f


tool: D294: 1

tool: D291: pragma373_omp_parallel %llu ns


tool: D244: TIME TO GET WEIGHTSTOOK: %f


tool: D156: pragma388_omp_parallel %llu ns


tool: D345: TIME TO SET ARRAYS TOOK: %f


tool: D62: pragma402_omp_parallel %llu ns


tool: D245: TIME TO SET ERROR TOOK: %f


tool: D175: 9223372036854775807

tool: D226: 50

tool: D352: pragma410_omp_parallel %llu ns


tool: D295: TIME TO GET LIKELIHOODS TOOK: %f


tool: D161: pragma433_omp_parallel %llu ns


tool: D183: TIME TO GET EXP TOOK: %f


tool: D347: pragma440_omp_parallel %llu ns


tool: D180: TIME TO SUM WEIGHTS TOOK: %f


tool: D318: pragma446_omp_parallel %llu ns


tool: D146: TIME TO NORMALIZE WEIGHTS TOOK: %f


tool: D96: pragma455_omp_parallel %llu ns


tool: D216: TIME TO MOVE OBJECT TOOK: %f


tool: D61: XE: %lf


tool: D250: YE: %lf


tool: D225: %lf


tool: D200: TIME TO CALC CUM SUM TOOK: %f


tool: D11: pragma480_omp_parallel %llu ns


tool: D205: TIME TO CALC U TOOK: %f


tool: D98: pragma488_omp_parallel %llu ns


tool: D144: TIME TO CALC NEW ARRAY X AND Y TOOK: %f


tool: D365: TIME TO RESET WEIGHTS TOOK: %f


assistant: ```c
void particleFilter(int *I, int IszX, int IszY, int Nfr, int *seed, int Nparticles) {
  int max_size = IszX * IszY * Nfr;
  long long start = get_time();
  double xe = roundDouble(IszY / 2.0);
  double ye = roundDouble(IszX / 2.0);
  int radius = 5;
  int diameter = radius * 2 - 1;
  int *disk = (int *)malloc(diameter * diameter * sizeof(int));
  strelDisk(disk, radius);
  int countOnes = 0;
  int x, y;
  for (x = 0; x < diameter; x++) {
    for (y = 0; y < diameter; y++) {
      if (disk[x * diameter + y] == 1)
        countOnes++;
    }
  }
  double *objxy = (double *)malloc(countOnes * 2 * sizeof(double));
  getneighbors(disk, countOnes, objxy, radius);
  long long get_neighbors = get_time();
  printf("TIME TO GET NEIGHBORS TOOK: %f\n", elapsed_time(start, get_neighbors));
  double *weights = (double *)malloc(sizeof(double) * Nparticles);
  {
    const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(weights, Nparticles) private(x)
    for (x = 0; x < Nparticles; x++) {
      weights[x] = 1 / ((double)(Nparticles));
    };
    const unsigned long long parallel_for_end = current_time_ns();
    printf("pragma373_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
  }
  long long get_weights = get_time();
  printf("TIME TO GET WEIGHTSTOOK: %f\n", elapsed_time(get_neighbors, get_weights));
  double *likelihood = (double *)malloc(sizeof(double) * Nparticles);
  double *arrayX = (double *)malloc(sizeof(double) * Nparticles);
  double *arrayY = (double *)malloc(sizeof(double) * Nparticles);
  double *xj = (double *)malloc(sizeof(double) * Nparticles);
  double *yj = (double *)malloc(sizeof(double) * Nparticles);
  double *CDF = (double *)malloc(sizeof(double) * Nparticles);
  double *u = (double *)malloc(sizeof(double) * Nparticles);
  int *ind = (int *)malloc(sizeof(int) * countOnes * Nparticles);
  {
    const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(arrayX, arrayY, xe, ye) private(x)
    for (x = 0; x < Nparticles; x++) {
      arrayX[x] = xe;
      arrayY[x] = ye;
    };
    const unsigned long long parallel_for_end = current_time_ns();
    printf("pragma388_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
  }
  int k;
  printf("TIME TO SET ARRAYS TOOK: %f\n", elapsed_time(get_weights, get_time()));
  int indX, indY;
  for (k = 1; k < Nfr; k++) {
    long long set_arrays = get_time();
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(arrayX, arrayY, Nparticles, seed) private(x)
      for (x = 0; x < Nparticles; x++) {
        arrayX[x] += 1 + 5 * randn(seed, x);
        arrayY[x] += -2 + 2 * randn(seed, x);
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma402_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long error = get_time();
    printf("TIME TO SET ERROR TOOK: %f\n", elapsed_time(set_arrays, error));
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(likelihood, I, arrayX, arrayY, objxy, ind) private(x, y, indX, indY)
      for (x = 0; x < Nparticles; x++) {
        for (y = 0; y < countOnes; y++) {
          indX = roundDouble(arrayX[x]) + objxy[y * 2 + 1];
          indY = roundDouble(arrayY[x]) + objxy[y * 2];
          ind[x * countOnes + y] = fabs((double)(indX * IszY * Nfr + indY * Nfr + k));
          if (ind[x * countOnes + y] >= max_size)
            ind[x * countOnes + y] = 0;
        }
        likelihood[x] = 0;
        for (y = 0; y < countOnes; y++)
          likelihood[x] += (pow((I[ind[x * countOnes + y]] - 100), 2) - pow((I[ind[x * countOnes + y]] - 228), 2)) / 50.0;
        likelihood[x] = likelihood[x] / ((double)countOnes);
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma410_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long likelihood_time = get_time();
    printf("TIME TO GET LIKELIHOODS TOOK: %f\n", elapsed_time(error, likelihood_time));
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(Nparticles, weights, likelihood) private(x)
      for (x = 0; x < Nparticles; x++) {
        weights[x] = weights[x] * exp(likelihood[x]);
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma433_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long exponential = get_time();
    printf("TIME TO GET EXP TOOK: %f\n", elapsed_time(likelihood_time, exponential));
    double sumWeights = 0;
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for private(x) reduction(+ : sumWeights)
      for (x = 0; x < Nparticles; x++) {
        sumWeights += weights[x];
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma440_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long sum_time = get_time();
    printf("TIME TO SUM WEIGHTS TOOK: %f\n", elapsed_time(exponential, sum_time));
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(sumWeights, weights) private(x)
      for (x = 0; x < Nparticles; x++) {
        weights[x] = weights[x] / sumWeights;
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma446_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long normalize = get_time();
    printf("TIME TO NORMALIZE WEIGHTS TOOK: %f\n", elapsed_time(sum_time, normalize));
    xe = 0;
    ye = 0;
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for private(x) reduction(+ : xe, ye)
      for (x = 0; x < Nparticles; x++) {
        xe += arrayX[x] * weights[x];
        ye += arrayY[x] * weights[x];
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma455_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long move_time = get_time();
    printf("TIME TO MOVE OBJECT TOOK: %f\n", elapsed_time(normalize, move_time));
    printf("XE: %lf\n", xe);
    printf("YE: %lf\n", ye);
    double distance = sqrt(pow((double)(xe - (int)roundDouble(IszY / 2.0)), 2) + pow((double)(ye - (int)roundDouble(IszX / 2.0)), 2));
    printf("%lf\n", distance);
    CDF[0] = weights[0];
    for (x = 1; x < Nparticles; x++) {
      CDF[x] = weights[x] + CDF[x - 1];
    }
    long long cum_sum = get_time();
    printf("TIME TO CALC CUM SUM TOOK: %f\n", elapsed_time(move_time, cum_sum));
    double u1 = (1 / ((double)(Nparticles))) * randu(seed, 0);
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(u, u1, Nparticles) private(x)
      for (x = 0; x < Nparticles; x++) {
        u[x] = u1 + x / ((double)(Nparticles));
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma480_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long u_time = get_time();
    printf("TIME TO CALC U TOOK: %f\n", elapsed_time(cum_sum, u_time));
    int j, i;
    {
      const unsigned long long parallel_for_start = current_time_ns();
#pragma omp parallel for shared(CDF, Nparticles, xj, yj, u, arrayX, arrayY) private(i, j)
      for (j = 0; j < Nparticles; j++) {
        i = findIndex(CDF, Nparticles, u[j]);
        if (i == -1)
          i = Nparticles - 1;
        xj[j] = arrayX[i];
        yj[j] = arrayY[i];
      };
      const unsigned long long parallel_for_end = current_time_ns();
      printf("pragma488_omp_parallel %llu ns\n", parallel_for_end - parallel_for_start);
    }
    long long xyj_time = get_time();
    printf("TIME TO CALC NEW ARRAY X AND Y TOOK: %f\n", elapsed_time(u_time, xyj_time));
    for (x = 0; x < Nparticles; x++) {
      arrayX[x] = xj[x];
      arrayY[x] = yj[x];
      weights[x] = 1 / ((double)(Nparticles));
    }
    long long reset = get_time();
    printf("TIME TO RESET WEIGHTS TOOK: %f\n", elapsed_time(xyj_time, reset));
  }
  free(disk);
  free(objxy);
  free(weights);
  free(likelihood);
  free(xj);
  free(yj);
  free(arrayX);
  free(arrayY);
  free(CDF);
  free(u);
  free(ind);
}
```