user: 请将以下的汇编代码转换成C语言代码：

```asm
<T44_to_rpy>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x30,%rsp
  mov    %rdi,-0x28(%rbp)
  mov    %rsi,-0x30(%rbp)
  mov    -0x30(%rbp),%rax
  lea    0x18(%rax),%rdx
  mov    -0x28(%rbp),%rax
  movsd  0x18(%rax),%xmm0
  movsd  %xmm0,(%rdx)
  mov    -0x28(%rbp),%rax
  lea    0x20(%rax),%rdx
  mov    -0x30(%rbp),%rax
  add    $0x20,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x28(%rbp),%rax
  lea    0x40(%rax),%rdx
  mov    -0x30(%rbp),%rax
  add    $0x28,%rax
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x28(%rbp),%rax
  movsd  (%rax),%xmm1
  mov    -0x28(%rbp),%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm0,%xmm1
  mov    -0x28(%rbp),%rax
  add    $0x20,%rax
  movsd  (%rax),%xmm2
  mov    -0x28(%rbp),%rax
  add    $0x20,%rax
  movsd  (%rax),%xmm0
  mulsd  %xmm2,%xmm0
  addsd  %xmm0,%xmm1
  movq   %xmm1,%rax
  movq   %rax,%xmm0
  call   <sqrt@plt>
  movq   %xmm0,%rdx
  mov    -0x28(%rbp),%rax
  add    $0x40,%rax
  mov    (%rax),%rax
  movq   %rdx,%xmm1
  movq   %rax,%xmm0
  call   <atan2@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x8(%rbp)
  movsd  -0x8(%rbp),%xmm0
  movsd  D1(%rip),%xmm1
  subsd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movq   %rax,%xmm0
  call   <fabs@plt>
  test   %eax,%eax
  jg     L38
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  mov    -0x28(%rbp),%rax
  movsd  0x10(%rax),%xmm0
  mov    -0x28(%rbp),%rax
  add    $0x20,%rax
  mov    0x10(%rax),%rax
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <atan2@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x10(%rbp)
  jmp    L6
L38:
  movsd  -0x8(%rbp),%xmm1
  movsd  D1(%rip),%xmm0
  addsd  %xmm0,%xmm1
  movq   %xmm1,%rax
  movq   %rax,%xmm0
  call   <fabs@plt>
  test   %eax,%eax
  jg     L9
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  mov    -0x28(%rbp),%rax
  movsd  0x10(%rax),%xmm0
  movq   D14(%rip),%xmm1
  movapd %xmm0,%xmm2
  xorpd  %xmm1,%xmm2
  mov    -0x28(%rbp),%rax
  add    $0x20,%rax
  movsd  0x10(%rax),%xmm0
  movq   D14(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movq   %xmm0,%rax
  movapd %xmm2,%xmm1
  movq   %rax,%xmm0
  call   <atan2@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x10(%rbp)
  jmp    L6
L9:
  mov    -0x28(%rbp),%rax
  movsd  (%rax),%xmm0
  mov    -0x28(%rbp),%rax
  add    $0x20,%rax
  mov    (%rax),%rax
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <atan2@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x10(%rbp)
  mov    -0x28(%rbp),%rax
  add    $0x40,%rax
  movsd  0x10(%rax),%xmm0
  mov    -0x28(%rbp),%rax
  add    $0x40,%rax
  mov    0x8(%rax),%rax
  movapd %xmm0,%xmm1
  movq   %rax,%xmm0
  call   <atan2@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x18(%rbp)
L6:
  mov    -0x30(%rbp),%rax
  movsd  -0x18(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x30(%rbp),%rax
  add    $0x8,%rax
  movsd  -0x8(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x30(%rbp),%rax
  add    $0x10,%rax
  movsd  -0x10(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  nop
  leave
  ret
```

tool_calls: name: disassemble_data
arguments: data_label: D1
type_guessed: byte[8]
name: disassemble_data
arguments: data_label: D14
type_guessed: f32[2]

tool: {"D1": [0x18,0x2d,0x44,0x54,0xfb,0x21,0xf9,0x3f]}

tool: {"D14": [0.0,-0.0]}

assistant: ```c
void T44_to_rpy(const double T44[4][4], double rpy_xyz[6]) {
  rpy_xyz[3] = T44[0][3];
  rpy_xyz[4] = T44[1][3];
  rpy_xyz[5] = T44[2][3];
  double p = atan2(T44[2][0], sqrt(T44[0][0] * T44[0][0] + T44[1][0] * T44[1][0]));
  double r, y;
  if (fabs(p - 3.141592653589793238462643383279502884196 / 2) < 1E-8) {
    r = 0;
    y = atan2(T44[1][2], T44[0][2]);
  } else if (fabs(p + 3.141592653589793238462643383279502884196 / 2) < 1E-8) {
    r = 0;
    y = atan2(-T44[1][2], -T44[0][2]);
  } else {
    y = atan2(T44[1][0], T44[0][0]);
    r = atan2(T44[2][1], T44[2][2]);
  }
  rpy_xyz[0] = r;
  rpy_xyz[1] = p;
  rpy_xyz[2] = y;
}
```