user: 请将这段汇编代码片段转换成等效的C代码:

```asm
<ukf_cholesky_solve>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  mov    %rdi,-0x28(%rbp)
  mov    %esi,-0x2c(%rbp)
  mov    %rdx,-0x38(%rbp)
  mov    %rcx,-0x40(%rbp)
  mov    %r8d,-0x30(%rbp)
  mov    %r9,-0x48(%rbp)
  movl   $0x0,-0x14(%rbp)
  jmp    L42
L12:
  movl   $0x0,-0x10(%rbp)
  jmp    L69
L18:
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0x10(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x40(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x8(%rbp)
  mov    -0x10(%rbp),%eax
  sub    $0x1,%eax
  mov    %eax,-0xc(%rbp)
  jmp    L38
L47:
  mov    -0x10(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0xc(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x28(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0xc(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x48(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  -0x8(%rbp),%xmm0
  subsd  %xmm1,%xmm0
  movsd  %xmm0,-0x8(%rbp)
  subl   $0x1,-0xc(%rbp)
L38:
  cmpl   $0x0,-0xc(%rbp)
  jns    L47
  mov    -0x10(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0x10(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x48(%rbp),%rax
  add    %rdx,%rax
  movsd  -0x8(%rbp),%xmm0
  divsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0x10(%rbp)
L69:
  mov    -0x10(%rbp),%eax
  cmp    %eax,-0x2c(%rbp)
  ja     L18
  mov    -0x2c(%rbp),%eax
  sub    $0x1,%eax
  mov    %eax,-0x10(%rbp)
  jmp    L57
L77:
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0x10(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x48(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x8(%rbp)
  mov    -0x10(%rbp),%eax
  add    $0x1,%eax
  mov    %eax,-0xc(%rbp)
  jmp    L89
L6:
  mov    -0xc(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0x10(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x28(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0xc(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x48(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  -0x8(%rbp),%xmm0
  subsd  %xmm1,%xmm0
  movsd  %xmm0,-0x8(%rbp)
  addl   $0x1,-0xc(%rbp)
L89:
  mov    -0xc(%rbp),%eax
  cmp    %eax,-0x2c(%rbp)
  ja     L6
  mov    -0x10(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x38(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  mov    -0x14(%rbp),%eax
  imul   -0x2c(%rbp),%eax
  mov    %eax,%edx
  mov    -0x10(%rbp),%eax
  add    %edx,%eax
  mov    %eax,%eax
  lea    0x0(,%rax,8),%rdx
  mov    -0x48(%rbp),%rax
  add    %rdx,%rax
  movsd  -0x8(%rbp),%xmm0
  divsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  subl   $0x1,-0x10(%rbp)
L57:
  cmpl   $0x0,-0x10(%rbp)
  jns    L77
  addl   $0x1,-0x14(%rbp)
L42:
  mov    -0x14(%rbp),%eax
  cmp    %eax,-0x30(%rbp)
  ja     L12
  nop
  nop
  pop    %rbp
  ret
```

assistant: ```c
void ukf_cholesky_solve(double *A, unsigned n, double *sigma, double *B, unsigned m, double *X) {
  int i, j, k;
  double t;
  for (i = 0; i < m; i++) {
    for (j = 0; j < n; j++) {
      t = B[i * n + j];
      for (k = j - 1; k >= 0; k--)
        t -= A[j * n + k] * X[i * n + k];
      X[i * n + j] = t / sigma[j];
    }
    for (j = n - 1; j >= 0; j--) {
      t = X[i * n + j];
      for (k = j + 1; k < n; k++)
        t -= A[k * n + j] * X[i * n + k];
      X[i * n + j] = t / sigma[j];
    }
  }
}
```