user: 请将这段汇编代码片段转换成等效的C代码:

```asm
<MatrixExp6>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x240,%rsp
  mov    %rdi,-0x228(%rbp)
  mov    %rsi,-0x230(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  movsd  D62(%rip),%xmm0
  movsd  %xmm0,-0x50(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x48(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x40(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  D62(%rip),%xmm0
  movsd  %xmm0,-0x30(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x28(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x20(%rbp)
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  movsd  D62(%rip),%xmm0
  movsd  %xmm0,-0x10(%rbp)
  lea    -0x210(%rbp),%rdx
  lea    -0x190(%rbp),%rcx
  mov    -0x228(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <TransToRp@plt>
  lea    -0x1d0(%rbp),%rdx
  lea    -0x190(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  call   <so3ToVec@plt>
  lea    -0x1d0(%rbp),%rax
  mov    %rax,%rdi
  call   <Vec3Norm2@plt>
  movsd  D44(%rip),%xmm1
  comisd %xmm0,%xmm1
  jbe    L37
  movl   $0x0,-0x220(%rbp)
  jmp    L140
L122:
  movl   $0x0,-0x21c(%rbp)
  jmp    L19
L100:
  mov    -0x220(%rbp),%eax
  cltq
  shl    $0x5,%rax
  mov    %rax,%rdx
  mov    -0x230(%rbp),%rax
  lea    (%rdx,%rax,1),%rcx
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rsi
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rsi,%rax
  movsd  -0x50(%rbp,%rax,8),%xmm0
  mov    -0x21c(%rbp),%eax
  cltq
  movsd  %xmm0,(%rcx,%rax,8)
  addl   $0x1,-0x21c(%rbp)
L19:
  cmpl   $0x2,-0x21c(%rbp)
  jle    L100
  addl   $0x1,-0x220(%rbp)
L140:
  cmpl   $0x2,-0x220(%rbp)
  jle    L122
  mov    -0x228(%rbp),%rax
  movsd  0x18(%rax),%xmm0
  mov    -0x230(%rbp),%rax
  movsd  %xmm0,0x18(%rax)
  mov    -0x228(%rbp),%rax
  lea    0x20(%rax),%rdx
  mov    -0x230(%rbp),%rax
  add    $0x20,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x228(%rbp),%rax
  lea    0x40(%rax),%rdx
  mov    -0x230(%rbp),%rax
  add    $0x40,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x8(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x10(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  movsd  D62(%rip),%xmm0
  movsd  %xmm0,0x18(%rax)
  jmp    L22
L37:
  lea    -0x218(%rbp),%rdx
  lea    -0x1b0(%rbp),%rcx
  lea    -0x1d0(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <AxisAng3@plt>
  lea    -0xf0(%rbp),%rdx
  lea    -0x190(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  call   <MatrixExp3@plt>
  movl   $0x0,-0x220(%rbp)
  jmp    L81
L106:
  movl   $0x0,-0x21c(%rbp)
  jmp    L116
L134:
  mov    -0x220(%rbp),%eax
  cltq
  shl    $0x5,%rax
  mov    %rax,%rdx
  mov    -0x230(%rbp),%rax
  lea    (%rdx,%rax,1),%rcx
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rsi
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rsi,%rax
  movsd  -0xf0(%rbp,%rax,8),%xmm0
  mov    -0x21c(%rbp),%eax
  cltq
  movsd  %xmm0,(%rcx,%rax,8)
  addl   $0x1,-0x21c(%rbp)
L116:
  cmpl   $0x2,-0x21c(%rbp)
  jle    L134
  addl   $0x1,-0x220(%rbp)
L81:
  cmpl   $0x2,-0x220(%rbp)
  jle    L106
  movsd  -0x218(%rbp),%xmm1
  movsd  D62(%rip),%xmm0
  divsd  %xmm1,%xmm0
  movq   %xmm0,%rdx
  lea    -0x140(%rbp),%rcx
  lea    -0x190(%rbp),%rax
  mov    %rcx,%rsi
  movq   %rdx,%xmm0
  mov    %rax,%rdi
  call   <Matrix3MultValue@plt>
  lea    -0xf0(%rbp),%rdx
  lea    -0x140(%rbp),%rcx
  lea    -0x140(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <Matrix3Mult@plt>
  movl   $0x0,-0x220(%rbp)
  jmp    L50
L135:
  movl   $0x0,-0x21c(%rbp)
  jmp    L72
L67:
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0x50(%rbp,%rax,8),%xmm1
  movsd  -0x218(%rbp),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  %xmm1,-0x238(%rbp)
  mov    -0x218(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  movsd  D62(%rip),%xmm1
  subsd  %xmm0,%xmm1
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0x140(%rbp,%rax,8),%xmm0
  mulsd  %xmm1,%xmm0
  addsd  -0x238(%rbp),%xmm0
  movsd  %xmm0,-0x238(%rbp)
  movsd  -0x218(%rbp),%xmm3
  movsd  %xmm3,-0x240(%rbp)
  mov    -0x218(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  movsd  -0x240(%rbp),%xmm1
  subsd  %xmm0,%xmm1
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  -0xf0(%rbp,%rax,8),%xmm0
  mulsd  %xmm1,%xmm0
  addsd  -0x238(%rbp),%xmm0
  mov    -0x21c(%rbp),%eax
  movslq %eax,%rcx
  mov    -0x220(%rbp),%eax
  movslq %eax,%rdx
  mov    %rdx,%rax
  add    %rax,%rax
  add    %rdx,%rax
  add    %rcx,%rax
  movsd  %xmm0,-0xa0(%rbp,%rax,8)
  addl   $0x1,-0x21c(%rbp)
L72:
  cmpl   $0x2,-0x21c(%rbp)
  jle    L67
  addl   $0x1,-0x220(%rbp)
L50:
  cmpl   $0x2,-0x220(%rbp)
  jle    L135
  movsd  -0x210(%rbp),%xmm0
  movsd  -0x218(%rbp),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x1f0(%rbp)
  movsd  -0x208(%rbp),%xmm0
  movsd  -0x218(%rbp),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x1e8(%rbp)
  movsd  -0x200(%rbp),%xmm0
  movsd  -0x218(%rbp),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x1e0(%rbp)
  lea    -0x210(%rbp),%rdx
  lea    -0x1f0(%rbp),%rcx
  lea    -0xa0(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <Matrix3MultVec@plt>
  movsd  -0x210(%rbp),%xmm0
  mov    -0x230(%rbp),%rax
  movsd  %xmm0,0x18(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x20,%rax
  movsd  -0x208(%rbp),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x40,%rax
  movsd  -0x200(%rbp),%xmm0
  movsd  %xmm0,0x18(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x8(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,0x10(%rax)
  mov    -0x230(%rbp),%rax
  add    $0x60,%rax
  movsd  D62(%rip),%xmm0
  movsd  %xmm0,0x18(%rax)
  nop
L22:
  mov    -0x8(%rbp),%rax
  sub    %fs:0x28,%rax
  je     L63
  call   <__stack_chk_fail@plt>
L63:
  leave
  ret
```

tool_calls: name: retrieve_data
arguments: data_tag: D62
type_guessed: f64
name: retrieve_data
arguments: data_tag: D44
type_guessed: byte[8]

tool: D62: 1

tool: {"D44": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

assistant: ```c
void MatrixExp6(double se3Mat[4][4], double T[4][4]) {
  int i;
  int j;
  double so3mat[3][3];
  double omgmat[3][3];
  double temp[3][3];
  double Gtheta[3][3];
  double p[3];
  double v[3];
  double omgtheta[3];
  double omghat[3];
  double theta;
  double MatI3[3][3] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
  TransToRp(se3Mat, so3mat, p);
  so3ToVec(so3mat, omgtheta);
  if (Vec3Norm2(omgtheta) < 1.0E-6) {
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        T[i][j] = MatI3[i][j];
      }
    }
    T[0][3] = se3Mat[0][3];
    T[1][3] = se3Mat[1][3];
    T[2][3] = se3Mat[2][3];
    T[3][0] = 0.0;
    T[3][1] = 0.0;
    T[3][2] = 0.0;
    T[3][3] = 1.0;
  } else {
    AxisAng3(omgtheta, omghat, &theta);
    MatrixExp3(so3mat, temp);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        T[i][j] = temp[i][j];
      }
    }
    Matrix3MultValue(so3mat, 1.0 / theta, omgmat);
    Matrix3Mult(omgmat, omgmat, temp);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        Gtheta[i][j] = MatI3[i][j] * theta + (1.0 - cos(theta)) * omgmat[i][j] + (theta - sin(theta)) * temp[i][j];
      }
    }
    v[0] = p[0] / theta;
    v[1] = p[1] / theta;
    v[2] = p[2] / theta;
    Matrix3MultVec(Gtheta, v, p);
    T[0][3] = p[0];
    T[1][3] = p[1];
    T[2][3] = p[2];
    T[3][0] = 0.0;
    T[3][1] = 0.0;
    T[3][2] = 0.0;
    T[3][3] = 1.0;
  }
  return;
}
```