user: 请显示与下面列出的汇编代码相匹配的C语言实现：

```asm
<MatrixLog6>:
  endbr64
  push   %r14
  push   %r13
  push   %r12
  mov    %rdi,%r12
  push   %rbp
  push   %rbx
  mov    %rsi,%rbx
  sub    $0x1a0,%rsp
  mov    %fs:0x28,%rax
  mov    %rax,0x198(%rsp)
  xor    %eax,%eax
  lea    0x60(%rsp),%r14
  lea    0x20(%rsp),%rbp
  mov    %rbp,%rdx
  mov    %r14,%rsi
  lea    0xb0(%rsp),%r13
  call   <TransToRp@plt>
  mov    %r13,%rsi
  mov    %r14,%rdi
  call   <MatrixLog3@plt>
  movq   D82(%rip),%xmm1
  movsd  0xb0(%rsp),%xmm2
  movsd  D92(%rip),%xmm0
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  ja     L12
L76:
  mov    $0x1,%eax
L105:
  movsd  0xc8(%rsp),%xmm2
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  ja     L70
L1:
  mov    $0x1,%eax
L103:
  movsd  0xe0(%rsp),%xmm3
  movapd %xmm3,%xmm2
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  ja     L9
L84:
  movsd  0x60(%rsp),%xmm0
  movsd  %xmm3,0x18(%rsp)
  addsd  0x80(%rsp),%xmm0
  addsd  0xa0(%rsp),%xmm0
  subsd  D48(%rip),%xmm0
  mulsd  D55(%rip),%xmm0
  call   <acos@plt>
  movsd  0x18(%rsp),%xmm3
  mov    %r13,%rsi
  mov    %r13,%rdi
  movapd %xmm0,%xmm6
  movsd  %xmm0,0x10(%rsp)
  movapd 0xc0(%rsp),%xmm0
  movapd 0xb0(%rsp),%xmm4
  movapd 0xd0(%rsp),%xmm7
  unpcklpd %xmm6,%xmm6
  movhpd 0xe8(%rsp),%xmm3
  lea    0x100(%rsp),%rdx
  movlpd %xmm0,0x10(%rbx)
  shufpd $0x1,0xd0(%rsp),%xmm0
  movups %xmm0,0x20(%rbx)
  movsd  0xf0(%rsp),%xmm0
  movups %xmm4,(%rbx)
  movhpd %xmm7,0x30(%rbx)
  movups %xmm3,0x40(%rbx)
  movsd  %xmm0,0x50(%rbx)
  movaps %xmm6,(%rsp)
  call   <Matrix3Mult@plt>
  movsd  0x10(%rsp),%xmm2
  movsd  D55(%rip),%xmm0
  mulsd  %xmm2,%xmm0
  call   <tan@plt>
  movsd  0x10(%rsp),%xmm2
  movapd (%rsp),%xmm6
  mov    %rbp,%rsi
  movapd %xmm0,%xmm3
  lea    0x40(%rsp),%rdx
  movsd  D48(%rip),%xmm0
  movsd  D55(%rip),%xmm1
  movapd D55(%rip),%xmm4
  lea    0x150(%rsp),%rdi
  movapd 0xc0(%rsp),%xmm5
  movapd 0xd0(%rsp),%xmm9
  divsd  %xmm3,%xmm1
  pxor   %xmm3,%xmm3
  mulpd  %xmm4,%xmm5
  movapd %xmm3,%xmm8
  mulpd  %xmm4,%xmm9
  subpd  %xmm5,%xmm8
  movapd 0x110(%rsp),%xmm5
  divsd  %xmm2,%xmm0
  subsd  %xmm1,%xmm0
  movapd %xmm0,%xmm1
  mulsd  0x140(%rsp),%xmm0
  unpcklpd %xmm1,%xmm1
  mulpd  %xmm1,%xmm5
  divsd  %xmm2,%xmm0
  movsd  D48(%rip),%xmm2
  divpd  %xmm6,%xmm5
  addpd  %xmm5,%xmm8
  movq   D48(%rip),%xmm5
  movapd %xmm5,%xmm7
  movaps %xmm8,0x160(%rsp)
  subpd  %xmm9,%xmm7
  movapd 0x120(%rsp),%xmm9
  mulpd  %xmm1,%xmm9
  divpd  %xmm6,%xmm9
  addpd  %xmm9,%xmm7
  movapd 0xb0(%rsp),%xmm9
  mulpd  %xmm4,%xmm9
  mulpd  0xe0(%rsp),%xmm4
  movaps %xmm7,0x170(%rsp)
  subpd  %xmm9,%xmm5
  movapd 0x100(%rsp),%xmm9
  subpd  %xmm4,%xmm3
  mulpd  %xmm1,%xmm9
  mulpd  0x130(%rsp),%xmm1
  divpd  %xmm6,%xmm9
  divpd  %xmm6,%xmm1
  addpd  %xmm9,%xmm5
  movaps %xmm5,0x150(%rsp)
  addpd  %xmm1,%xmm3
  movsd  D55(%rip),%xmm1
  mulsd  0xf0(%rsp),%xmm1
  movaps %xmm3,0x180(%rsp)
  subsd  %xmm1,%xmm2
  addsd  %xmm2,%xmm0
  movsd  %xmm0,0x190(%rsp)
  call   <Matrix3MultVec@plt>
  movsd  0x40(%rsp),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x48(%rsp),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x50(%rsp),%xmm0
L83:
  movq   $0x0,0x60(%rbx)
  movq   $0x0,0x68(%rbx)
  movq   $0x0,0x70(%rbx)
  movq   $0x0,0x78(%rbx)
  movsd  %xmm0,0x58(%rbx)
  mov    0x198(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L31
  add    $0x1a0,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  ret
  nopw   0x0(%rax,%rax,1)
L12:
  movsd  0xb8(%rsp),%xmm2
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  jbe    L76
  movsd  0xc0(%rsp),%xmm2
  xor    %eax,%eax
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  setbe  %al
  jmp    L105
  nopw   0x0(%rax,%rax,1)
L9:
  movsd  0xe8(%rsp),%xmm2
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  jbe    L84
  movsd  0xf0(%rsp),%xmm2
  andpd  %xmm2,%xmm1
  comisd %xmm1,%xmm0
  jbe    L84
  test   %eax,%eax
  jne    L84
  pxor   %xmm0,%xmm0
  movq   $0x0,0x10(%rbx)
  movq   $0x0,0x20(%rbx)
  movq   $0x0,0x28(%rbx)
  movq   $0x0,0x30(%rbx)
  movq   $0x0,0x40(%rbx)
  movq   $0x0,0x48(%rbx)
  movq   $0x0,0x50(%rbx)
  movups %xmm0,(%rbx)
  movsd  0x18(%r12),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x38(%r12),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x58(%r12),%xmm0
  jmp    L83
  nopl   0x0(%rax)
L70:
  movsd  0xd0(%rsp),%xmm2
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  jbe    L1
  movsd  0xd8(%rsp),%xmm2
  mov    $0x1,%edx
  andpd  %xmm1,%xmm2
  comisd %xmm2,%xmm0
  cmovbe %edx,%eax
  jmp    L103
L31:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: retrieve_data
arguments: data_tag: D82
type: qword
name: retrieve_data
arguments: data_tag: D92
type: byte[8]
name: retrieve_data
arguments: data_tag: D48
type: f64
name: retrieve_data
arguments: data_tag: D55
type: f64[2]

tool: D82: 9223372036854775807

tool: {"D92": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: D48: 1

tool: {"D55": [0.5,0.5]}

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;
}
```