user: 这段汇编代码用C语言表示是什么样的:

```asm
<MatrixLog6>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x210,%rsp
  mov    %rdi,-0x1f8(%rbp)
  mov    %rsi,-0x200(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  lea    -0x1d0(%rbp),%rdx
  lea    -0x190(%rbp),%rcx
  mov    -0x1f8(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <TransToRp@plt>
  lea    -0x140(%rbp),%rdx
  lea    -0x190(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  call   <MatrixLog3@plt>
  movl   $0x0,-0x1dc(%rbp)
  movl   $0x0,-0x1e4(%rbp)
  jmp    L14
L134:
  movl   $0x0,-0x1e0(%rbp)
  jmp    L113
L88:
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0x140(%rbp,%rax,8),%xmm0
  movq   D87(%rip),%xmm1
  andpd  %xmm0,%xmm1
  movsd  D46(%rip),%xmm0
  comisd %xmm1,%xmm0
  ja     L95
  movl   $0x1,-0x1dc(%rbp)
  jmp    L155
L95:
  nop
  addl   $0x1,-0x1e0(%rbp)
L113:
  cmpl   $0x2,-0x1e0(%rbp)
  jle    L88
L155:
  addl   $0x1,-0x1e4(%rbp)
L14:
  cmpl   $0x2,-0x1e4(%rbp)
  jle    L134
  cmpl   $0x0,-0x1dc(%rbp)
  jne    L185
  movl   $0x0,-0x1e4(%rbp)
  jmp    L151
L71:
  movl   $0x0,-0x1e0(%rbp)
  jmp    L195
L138:
  mov    -0x1e4(%rbp),%eax
  cltq
  shl    $0x5,%rax
  mov    %rax,%rdx
  mov    -0x200(%rbp),%rax
  add    %rax,%rdx
  mov    -0x1e0(%rbp),%eax
  cltq
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rdx,%rax,8)
  addl   $0x1,-0x1e0(%rbp)
L195:
  cmpl   $0x2,-0x1e0(%rbp)
  jle    L138
  addl   $0x1,-0x1e4(%rbp)
L151:
  cmpl   $0x2,-0x1e4(%rbp)
  jle    L71
  mov    -0x1f8(%rbp),%rax
  movsd  0x18(%rax),%xmm0
  mov    -0x200(%rbp),%rax
  movsd  %xmm0,0x18(%rax)
  mov    -0x1f8(%rbp),%rax
  lea    0x20(%rax),%rdx
  mov    -0x200(%rbp),%rax
  add    $0x20,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x1f8(%rbp),%rax
  lea    0x40(%rax),%rdx
  mov    -0x200(%rbp),%rax
  add    $0x40,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x8(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x10(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x18(%rax)
  jmp    L160
L185:
  movsd  D66(%rip),%xmm0
  movsd  %xmm0,-0xf0(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xe8(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xe0(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xd8(%rbp)
  movsd  D66(%rip),%xmm0
  movsd  %xmm0,-0xd0(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xc8(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xc0(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0xb8(%rbp)
  movsd  D66(%rip),%xmm0
  movsd  %xmm0,-0xb0(%rbp)
  movsd  -0x190(%rbp),%xmm1
  movsd  -0x170(%rbp),%xmm0
  addsd  %xmm0,%xmm1
  movsd  -0x150(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  movsd  D66(%rip),%xmm1
  subsd  %xmm1,%xmm0
  movsd  D93(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  call   <acos@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x1d8(%rbp)
  movl   $0x0,-0x1e4(%rbp)
  jmp    L115
L107:
  movl   $0x0,-0x1e0(%rbp)
  jmp    L86
L172:
  mov    -0x1e4(%rbp),%eax
  cltq
  shl    $0x5,%rax
  mov    %rax,%rdx
  mov    -0x200(%rbp),%rax
  lea    (%rdx,%rax,1),%rcx
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rsi
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rsi,%rax
  movsd  -0x140(%rbp,%rax,8),%xmm0
  mov    -0x1e0(%rbp),%eax
  cltq
  movsd  %xmm0,(%rcx,%rax,8)
  addl   $0x1,-0x1e0(%rbp)
L86:
  cmpl   $0x2,-0x1e0(%rbp)
  jle    L172
  addl   $0x1,-0x1e4(%rbp)
L115:
  cmpl   $0x2,-0x1e4(%rbp)
  jle    L107
  lea    -0xa0(%rbp),%rdx
  lea    -0x140(%rbp),%rcx
  lea    -0x140(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <Matrix3Mult@plt>
  movl   $0x0,-0x1e4(%rbp)
  jmp    L34
L149:
  movl   $0x0,-0x1e0(%rbp)
  jmp    L178
L16:
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0xf0(%rbp,%rax,8),%xmm0
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0x140(%rbp,%rax,8),%xmm2
  movsd  D91(%rip),%xmm1
  mulsd  %xmm2,%xmm1
  subsd  %xmm1,%xmm0
  movsd  %xmm0,-0x208(%rbp)
  movsd  D66(%rip),%xmm0
  divsd  -0x1d8(%rbp),%xmm0
  movsd  %xmm0,-0x210(%rbp)
  movsd  -0x1d8(%rbp),%xmm1
  movsd  D91(%rip),%xmm0
  movapd %xmm1,%xmm4
  mulsd  %xmm0,%xmm4
  movq   %xmm4,%rax
  movq   %rax,%xmm0
  call   <tan@plt>
  movsd  D91(%rip),%xmm1
  movapd %xmm1,%xmm2
  divsd  %xmm0,%xmm2
  movsd  -0x210(%rbp),%xmm1
  subsd  %xmm2,%xmm1
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0xa0(%rbp,%rax,8),%xmm0
  mulsd  %xmm1,%xmm0
  divsd  -0x1d8(%rbp),%xmm0
  addsd  -0x208(%rbp),%xmm0
  mov    -0x1e0(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x1e4(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  %xmm0,-0x50(%rbp,%rax,8)
  addl   $0x1,-0x1e0(%rbp)
L178:
  cmpl   $0x2,-0x1e0(%rbp)
  jle    L16
  addl   $0x1,-0x1e4(%rbp)
L34:
  cmpl   $0x2,-0x1e4(%rbp)
  jle    L149
  lea    -0x1b0(%rbp),%rdx
  lea    -0x1d0(%rbp),%rcx
  lea    -0x50(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <Matrix3MultVec@plt>
  movsd  -0x1b0(%rbp),%xmm0
  mov    -0x200(%rbp),%rax
  movsd  %xmm0,0x18(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x20,%rax
  movsd  -0x1a8(%rbp),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x40,%rax
  movsd  -0x1a0(%rbp),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x8(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x10(%rax)
  mov    -0x200(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x18(%rax)
  nop
L160:
  mov    -0x8(%rbp),%rax
  sub    %fs:0x28,%rax
  je     L50
  call   <__stack_chk_fail@plt>
L50:
  leave
  ret
```

tool_calls: name: extract_symbolic_data
arguments: label: D87
data_type: qword
name: extract_symbolic_data
arguments: label: D46
data_type: byte[8]
name: extract_symbolic_data
arguments: label: D66
data_type: f64
name: extract_symbolic_data
arguments: label: D93
data_type: f64
name: extract_symbolic_data
arguments: label: D91
data_type: f64

tool: D87: 9223372036854775807

tool: {"D46": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: D66: 1

tool: D93: 2

tool: D91: 0.5

assistant: ```c
void MatrixLog6(double T[4][4], double se3Mat[4][4]) {
  int i;
  int j;
  double R[3][3];
  double so3mat[3][3];
  double p[3];
  TransToRp(T, R, p);
  MatrixLog3(R, so3mat);
  int flag = 0;
  for (i = 0; i < 3; i++) {
    for (j = 0; j < 3; j++) {
      if (fabs(so3mat[i][j]) < 1.0E-6) {
        continue;
      } else {
        flag = 1;
        break;
      }
    }
  }
  if (!flag) {
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        se3Mat[i][j] = 0.0;
      }
    }
    se3Mat[0][3] = T[0][3];
    se3Mat[1][3] = T[1][3];
    se3Mat[2][3] = T[2][3];
    se3Mat[3][0] = 0.0;
    se3Mat[3][1] = 0.0;
    se3Mat[3][2] = 0.0;
    se3Mat[3][3] = 0.0;
  } else {
    double MatI3[3][3] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    double v[3];
    double temp[3][3];
    double InvGtheta[3][3];
    double theta = acos((R[0][0] + R[1][1] + R[2][2] - 1.0) / 2.0);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        se3Mat[i][j] = so3mat[i][j];
      }
    }
    Matrix3Mult(so3mat, so3mat, temp);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        InvGtheta[i][j] = MatI3[i][j] - 0.5 * so3mat[i][j] + (1.0 / theta - 0.5 * 1.0 / tan(0.5 * theta)) * temp[i][j] / theta;
      }
    }
    Matrix3MultVec(InvGtheta, p, v);
    se3Mat[0][3] = v[0];
    se3Mat[1][3] = v[1];
    se3Mat[2][3] = v[2];
    se3Mat[3][0] = 0.0;
    se3Mat[3][1] = 0.0;
    se3Mat[3][2] = 0.0;
    se3Mat[3][3] = 0.0;
  }
  return;
}
```