user: Translate the below assembly code into C programming language:

```asm
<floats_xytcov_mul>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x28,%rsp
  mov    %rdi,%r13
  mov    %rsi,%rbp
  mov    %rdx,%r14
  mov    %rcx,%r12
  mov    %r8,%r15
  mov    %r9,%rbx
  movss  (%rdi),%xmm4
  movss  %xmm4,0x14(%rsp)
  movss  0x4(%rdi),%xmm7
  movss  %xmm7,0x18(%rsp)
  movss  0x8(%rdi),%xmm0
  movss  %xmm0,0xc(%rsp)
  movss  (%rdx),%xmm1
  movss  %xmm1,0x10(%rsp)
  movss  0x4(%rdx),%xmm5
  movss  %xmm5,0x1c(%rsp)
  call   <sin@plt>
  movss  %xmm0,0x8(%rsp)
  movss  0xc(%rsp),%xmm0
  call   <cos@plt>
  mov    0x4(%rbp),%r8d
  movss  0x8(%rbp),%xmm13
  mov    0x10(%rbp),%r9d
  movss  0x14(%rbp),%xmm10
  movss  0x20(%rbp),%xmm4
  movss  (%r12),%xmm3
  movss  0x4(%r12),%xmm12
  mov    0x8(%r12),%esi
  movss  0x10(%r12),%xmm2
  mov    0x14(%r12),%ecx
  mov    0x20(%r12),%edi
  movss  0x8(%rsp),%xmm14
  movaps %xmm14,%xmm6
  xorps  D7(%rip),%xmm6
  movss  0x10(%rsp),%xmm1
  movaps %xmm1,%xmm11
  mulss  %xmm6,%xmm11
  movss  0x1c(%rsp),%xmm5
  movaps %xmm5,%xmm7
  mulss  %xmm0,%xmm7
  movaps %xmm11,%xmm9
  subss  %xmm7,%xmm9
  mulss  %xmm0,%xmm1
  mulss  %xmm14,%xmm5
  subss  %xmm5,%xmm1
  movaps %xmm4,%xmm5
  mulss  %xmm9,%xmm5
  movaps %xmm5,%xmm14
  movaps %xmm0,%xmm5
  mulss  %xmm3,%xmm5
  movss  %xmm5,0xc(%rsp)
  movaps %xmm12,%xmm8
  addss  %xmm12,%xmm8
  movaps %xmm6,%xmm5
  mulss  %xmm2,%xmm5
  movss  %xmm5,0x10(%rsp)
  movaps %xmm13,%xmm15
  addss  %xmm13,%xmm15
  mulss  %xmm9,%xmm15
  movaps %xmm14,%xmm5
  mulss  %xmm9,%xmm5
  addss  %xmm15,%xmm5
  movss  0xc(%rsp),%xmm15
  mulss  %xmm0,%xmm15
  addss  %xmm5,%xmm15
  movaps %xmm8,%xmm5
  mulss  %xmm0,%xmm5
  mulss  %xmm6,%xmm5
  addss  %xmm15,%xmm5
  movss  0x10(%rsp),%xmm15
  mulss  %xmm6,%xmm15
  addss  %xmm15,%xmm5
  addss  0x0(%rbp),%xmm5
  movss  %xmm5,(%rbx)
  addss  %xmm13,%xmm14
  movaps %xmm14,%xmm5
  mulss  %xmm1,%xmm5
  movd   %r8d,%xmm13
  addss  %xmm13,%xmm5
  mulss  %xmm10,%xmm9
  addss  %xmm9,%xmm5
  movaps %xmm6,%xmm9
  mulss  %xmm12,%xmm9
  addss  0xc(%rsp),%xmm9
  movss  0x8(%rsp),%xmm13
  mulss  %xmm13,%xmm9
  addss  %xmm5,%xmm9
  mulss  %xmm0,%xmm12
  movaps %xmm12,%xmm5
  addss  0x10(%rsp),%xmm5
  mulss  %xmm0,%xmm5
  addss  %xmm5,%xmm9
  movss  %xmm9,0x4(%rbx)
  movd   %esi,%xmm12
  mulss  %xmm0,%xmm12
  addss  %xmm14,%xmm12
  movd   %ecx,%xmm5
  mulss  %xmm5,%xmm6
  addss  %xmm6,%xmm12
  movss  %xmm12,0x8(%rbx)
  movss  %xmm9,0xc(%rbx)
  movaps %xmm4,%xmm5
  mulss  %xmm1,%xmm5
  movaps %xmm10,%xmm9
  addss  %xmm10,%xmm9
  mulss  %xmm1,%xmm9
  movaps %xmm5,%xmm6
  mulss  %xmm1,%xmm6
  addss  %xmm9,%xmm6
  mulss  %xmm13,%xmm3
  mulss  %xmm13,%xmm3
  addss  %xmm6,%xmm3
  mulss  %xmm13,%xmm8
  mulss  %xmm0,%xmm8
  addss  %xmm3,%xmm8
  mulss  %xmm0,%xmm2
  mulss  %xmm0,%xmm2
  addss  %xmm2,%xmm8
  movd   %r9d,%xmm2
  addss  %xmm2,%xmm8
  movss  %xmm8,0x10(%rbx)
  movaps %xmm5,%xmm2
  addss  %xmm10,%xmm2
  movd   %esi,%xmm3
  mulss  %xmm13,%xmm3
  addss  %xmm3,%xmm2
  movd   %ecx,%xmm3
  mulss  %xmm3,%xmm0
  addss  %xmm2,%xmm0
  movss  %xmm0,0x14(%rbx)
  movss  %xmm12,0x18(%rbx)
  movss  %xmm0,0x1c(%rbx)
  movd   %edi,%xmm2
  addss  %xmm2,%xmm4
  movss  %xmm4,0x20(%rbx)
  addss  0x14(%rsp),%xmm1
  movss  %xmm1,(%r15)
  subss  %xmm11,%xmm7
  addss  0x18(%rsp),%xmm7
  movss  %xmm7,0x4(%r15)
  movss  0x8(%r13),%xmm0
  addss  0x8(%r14),%xmm0
  movss  %xmm0,0x8(%r15)
  add    $0x28,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
```

tool_calls: name: disassemble_data
arguments: label: D7
type: byte[16]

tool: {"D7": [0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]}

assistant: ```c
void floats_xytcov_mul(const float xyta[3], const float Ca[9], const float xytb[3], const float Cb[9], float xytr[3], float Cr[9]) {
  float xa = xyta[0], ya = xyta[1], ta = xyta[2];
  float xb = xytb[0], yb = xytb[1];
  float sa = sin(ta), ca = cos(ta);
  float P11 = Ca[0], P12 = Ca[1], P13 = Ca[2];
  float P22 = Ca[4], P23 = Ca[5];
  float P33 = Ca[8];
  float Q11 = Cb[0], Q12 = Cb[1], Q13 = Cb[2];
  float Q22 = Cb[4], Q23 = Cb[5];
  float Q33 = Cb[8];
  float JA13 = -sa * xb - ca * yb;
  float JA23 = ca * xb - sa * yb;
  float JB11 = ca;
  float JB12 = -sa;
  float JB21 = sa;
  float JB22 = ca;
  Cr[0] = P33 * JA13 * JA13 + 2 * P13 * JA13 + Q11 * JB11 * JB11 + 2 * Q12 * JB11 * JB12 + Q22 * JB12 * JB12 + P11;
  Cr[1] = P12 + JA23 * (P13 + JA13 * P33) + JA13 * P23 + JB21 * (JB11 * Q11 + JB12 * Q12) + JB22 * (JB11 * Q12 + JB12 * Q22);
  Cr[2] = P13 + JA13 * P33 + JB11 * Q13 + JB12 * Q23;
  Cr[3] = Cr[1];
  Cr[4] = P33 * JA23 * JA23 + 2 * P23 * JA23 + Q11 * JB21 * JB21 + 2 * Q12 * JB21 * JB22 + Q22 * JB22 * JB22 + P22;
  Cr[5] = P23 + JA23 * P33 + JB21 * Q13 + JB22 * Q23;
  Cr[6] = Cr[2];
  Cr[7] = Cr[5];
  Cr[8] = P33 + Q33;
  xytr[0] = ca * xb - sa * yb + xa;
  xytr[1] = sa * xb + ca * yb + ya;
  xytr[2] = xyta[2] + xytb[2];
}
```