user: 这段汇编代码用C语言表示是什么样的：

```asm
<quat2rpy>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  add    $0xffffffffffffff80,%rsp
  mov    %rdi,-0x68(%rbp)
  mov    %rsi,-0x70(%rbp)
  mov    %rdx,-0x78(%rbp)
  mov    %rcx,-0x80(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  movl   $0x0,-0x54(%rbp)
  jmp    L53
L65:
  mov    -0x54(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0x54(%rbp),%eax
  cltq
  movsd  %xmm0,-0x30(%rbp,%rax,8)
  addl   $0x1,-0x54(%rbp)
L53:
  cmpl   $0x3,-0x54(%rbp)
  jle    L65
  pxor   %xmm0,%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movsd  D19(%rip),%xmm0
  movsd  %xmm0,-0x48(%rbp)
  movl   $0x0,-0x54(%rbp)
  jmp    L40
L72:
  mov    -0x54(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x68(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  movq   D17(%rip),%xmm1
  andpd  %xmm1,%xmm0
  movsd  %xmm0,-0x40(%rbp)
  movsd  -0x40(%rbp),%xmm0
  comisd -0x48(%rbp),%xmm0
  jbe    L11
  movsd  -0x48(%rbp),%xmm0
  divsd  -0x40(%rbp),%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  -0x50(%rbp),%xmm0
  mulsd  -0x38(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x38(%rbp),%xmm1
  movsd  D20(%rip),%xmm0
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movsd  -0x40(%rbp),%xmm0
  movsd  %xmm0,-0x48(%rbp)
  jmp    L58
L11:
  movsd  -0x40(%rbp),%xmm0
  divsd  -0x48(%rbp),%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  -0x38(%rbp),%xmm0
  mulsd  %xmm0,%xmm0
  movsd  -0x50(%rbp),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x50(%rbp)
L58:
  addl   $0x1,-0x54(%rbp)
L40:
  cmpl   $0x3,-0x54(%rbp)
  jle    L72
  mov    -0x50(%rbp),%rax
  movq   %rax,%xmm0
  call   <sqrt@plt>
  movsd  -0x48(%rbp),%xmm1
  mulsd  %xmm1,%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movl   $0x0,-0x54(%rbp)
  jmp    L77
L29:
  mov    -0x54(%rbp),%eax
  cltq
  movsd  -0x30(%rbp,%rax,8),%xmm0
  divsd  -0x50(%rbp),%xmm0
  mov    -0x54(%rbp),%eax
  cltq
  movsd  %xmm0,-0x30(%rbp,%rax,8)
  addl   $0x1,-0x54(%rbp)
L77:
  cmpl   $0x3,-0x54(%rbp)
  jle    L29
  movsd  -0x30(%rbp),%xmm1
  movsd  -0x30(%rbp),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  -0x28(%rbp),%xmm2
  movsd  -0x28(%rbp),%xmm0
  mulsd  %xmm2,%xmm0
  addsd  %xmm1,%xmm0
  movsd  -0x20(%rbp),%xmm2
  movsd  -0x20(%rbp),%xmm1
  mulsd  %xmm2,%xmm1
  subsd  %xmm1,%xmm0
  movsd  -0x18(%rbp),%xmm2
  movsd  -0x18(%rbp),%xmm1
  mulsd  %xmm2,%xmm1
  movapd %xmm0,%xmm3
  subsd  %xmm1,%xmm3
  movsd  -0x28(%rbp),%xmm1
  movsd  -0x20(%rbp),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  -0x30(%rbp),%xmm2
  movsd  -0x18(%rbp),%xmm0
  mulsd  %xmm2,%xmm0
  addsd  %xmm1,%xmm0
  addsd  %xmm0,%xmm0
  movq   %xmm0,%rax
  movapd %xmm3,%xmm1
  movq   %rax,%xmm0
  call   <rt_atan2d_snf@plt>
  movq   %xmm0,%rax
  mov    -0x70(%rbp),%rdx
  mov    %rax,(%rdx)
  movsd  -0x28(%rbp),%xmm1
  movsd  -0x18(%rbp),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  -0x30(%rbp),%xmm2
  movsd  -0x20(%rbp),%xmm1
  mulsd  %xmm1,%xmm2
  movapd %xmm0,%xmm1
  subsd  %xmm2,%xmm1
  movsd  D14(%rip),%xmm0
  mulsd  %xmm0,%xmm1
  movq   %xmm1,%rax
  movq   %rax,%xmm0
  call   <asin@plt>
  movq   %xmm0,%rax
  mov    -0x78(%rbp),%rdx
  mov    %rax,(%rdx)
  movsd  -0x30(%rbp),%xmm1
  movsd  -0x30(%rbp),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  -0x28(%rbp),%xmm2
  movsd  -0x28(%rbp),%xmm1
  mulsd  %xmm2,%xmm1
  subsd  %xmm1,%xmm0
  movsd  -0x20(%rbp),%xmm2
  movsd  -0x20(%rbp),%xmm1
  mulsd  %xmm1,%xmm2
  movapd %xmm0,%xmm1
  subsd  %xmm2,%xmm1
  movsd  -0x18(%rbp),%xmm2
  movsd  -0x18(%rbp),%xmm0
  mulsd  %xmm2,%xmm0
  movapd %xmm1,%xmm3
  addsd  %xmm0,%xmm3
  movsd  -0x20(%rbp),%xmm1
  movsd  -0x18(%rbp),%xmm0
  mulsd  %xmm0,%xmm1
  movsd  -0x30(%rbp),%xmm2
  movsd  -0x28(%rbp),%xmm0
  mulsd  %xmm2,%xmm0
  addsd  %xmm1,%xmm0
  addsd  %xmm0,%xmm0
  movq   %xmm0,%rax
  movapd %xmm3,%xmm1
  movq   %rax,%xmm0
  call   <rt_atan2d_snf@plt>
  movq   %xmm0,%rax
  mov    -0x80(%rbp),%rdx
  mov    %rax,(%rdx)
  nop
  mov    -0x8(%rbp),%rax
  sub    %fs:0x28,%rax
  je     L42
  call   <__stack_chk_fail@plt>
L42:
  leave
  ret
```

tool_calls: name: retrieve_data
arguments: data_label: D19
datatype: f32[2]
name: retrieve_data
arguments: data_label: D17
datatype: qword
name: retrieve_data
arguments: data_label: D20
datatype: f64
name: retrieve_data
arguments: data_label: D14
datatype: f32[2]

tool: {"D19": [0.0,1.4693679385278594e-39]}

tool: D17: 9223372036854775807

tool: D20: 1

tool: {"D14": [0.0,-2.0]}

assistant: ```c
void quat2rpy(const double q[4], double *yaw, double *pitch, double *roll) {
  int k;
  double qin[4];
  double qm;
  double scale;
  double absxk;
  double t;
  for (k = 0; k < 4; k++) {
    qin[k] = q[k];
  }
  qm = 0.0;
  scale = 2.2250738585072014E-308;
  for (k = 0; k < 4; k++) {
    absxk = fabs(q[k]);
    if (absxk > scale) {
      t = scale / absxk;
      qm = 1.0 + qm * t * t;
      scale = absxk;
    } else {
      t = absxk / scale;
      qm += t * t;
    }
  }
  qm = scale * sqrt(qm);
  for (k = 0; k < 4; k++) {
    qin[k] /= qm;
  }
  *yaw = rt_atan2d_snf(2.0 * (qin[1] * qin[2] + qin[0] * qin[3]), ((qin[0] * qin[0] + qin[1] * qin[1]) - qin[2] * qin[2]) - qin[3] * qin[3]);
  *pitch = asin(-2.0 * (qin[1] * qin[3] - qin[0] * qin[2]));
  *roll = rt_atan2d_snf(2.0 * (qin[2] * qin[3] + qin[0] * qin[1]), ((qin[0] * qin[0] - qin[1] * qin[1]) - qin[2] * qin[2]) + qin[3] * qin[3]);
}
```