user: 提供的汇编代码用C语言表示会是什么样子：

```asm
<MatrixExp6>:
  endbr64
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x238,%rsp
  mov    %rdi,%rbp
  mov    %rsi,%rbx
  mov    %fs:0x28,%rax
  mov    %rax,0x228(%rsp)
  xor    %eax,%eax
  movsd  D44(%rip),%xmm0
  movsd  %xmm0,0x1e0(%rsp)
  movq   $0x0,0x1e8(%rsp)
  movq   $0x0,0x1f0(%rsp)
  movq   $0x0,0x1f8(%rsp)
  movsd  %xmm0,0x200(%rsp)
  movq   $0x0,0x208(%rsp)
  movq   $0x0,0x210(%rsp)
  movq   $0x0,0x218(%rsp)
  movsd  %xmm0,0x220(%rsp)
  lea    0x20(%rsp),%rdx
  lea    0xa0(%rsp),%r13
  mov    %r13,%rsi
  call   <TransToRp@plt>
  lea    0x60(%rsp),%r12
  mov    %r12,%rsi
  mov    %r13,%rdi
  call   <so3ToVec@plt>
  mov    %r12,%rdi
  call   <Vec3Norm2@plt>
  movsd  D3(%rip),%xmm1
  comisd %xmm0,%xmm1
  jbe    L32
  lea    0x1e0(%rsp),%rax
  mov    %rbx,%rdx
  lea    0x228(%rsp),%rcx
L60:
  movsd  (%rax),%xmm0
  movsd  %xmm0,(%rdx)
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0x8(%rdx)
  movsd  0x10(%rax),%xmm0
  movsd  %xmm0,0x10(%rdx)
  add    $0x18,%rax
  add    $0x20,%rdx
  cmp    %rax,%rcx
  jne    L60
  movsd  0x18(%rbp),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x38(%rbp),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x58(%rbp),%xmm0
L49:
  movsd  %xmm0,0x58(%rbx)
  movq   $0x0,0x60(%rbx)
  movq   $0x0,0x68(%rbx)
  movq   $0x0,0x70(%rbx)
  mov    D44(%rip),%rax
  mov    %rax,0x78(%rbx)
  mov    0x228(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L29
  add    $0x238,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
L32:
  lea    0x18(%rsp),%rdx
  lea    0x80(%rsp),%rsi
  lea    0x60(%rsp),%rdi
  call   <AxisAng3@plt>
  lea    0x140(%rsp),%rbp
  lea    0xa0(%rsp),%rdi
  mov    %rbp,%rsi
  call   <MatrixExp3@plt>
  mov    %rbp,%rax
  mov    %rbx,%rdx
  lea    0x188(%rsp),%rcx
L36:
  movsd  (%rax),%xmm0
  movsd  %xmm0,(%rdx)
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0x8(%rdx)
  movsd  0x10(%rax),%xmm0
  movsd  %xmm0,0x10(%rdx)
  add    $0x18,%rax
  add    $0x20,%rdx
  cmp    %rcx,%rax
  jne    L36
  lea    0xf0(%rsp),%rbp
  movsd  D44(%rip),%xmm0
  divsd  0x18(%rsp),%xmm0
  lea    0xa0(%rsp),%rdi
  mov    %rbp,%rsi
  call   <Matrix3MultValue@plt>
  lea    0x140(%rsp),%rdx
  mov    %rbp,%rsi
  mov    %rbp,%rdi
  call   <Matrix3Mult@plt>
  mov    0x18(%rsp),%rbp
  lea    0x8(%rsp),%rdi
  mov    %rsp,%rsi
  movq   %rbp,%xmm0
  call   <sincos@plt>
  movsd  D44(%rip),%xmm2
  subsd  (%rsp),%xmm2
  movq   %rbp,%xmm3
  subsd  0x8(%rsp),%xmm3
  mov    $0x18,%edx
  lea    0x1e0(%rsp),%rdi
  lea    0xf0(%rsp),%rsi
  lea    0x140(%rsp),%rcx
  jmp    L57
L81:
  add    $0x18,%rdx
  cmp    $0x60,%rdx
  je     L30
L57:
  lea    -0x18(%rdx),%rax
L79:
  movq   %rbp,%xmm0
  mulsd  (%rax,%rdi,1),%xmm0
  movapd %xmm2,%xmm1
  mulsd  (%rax,%rsi,1),%xmm1
  addsd  %xmm1,%xmm0
  movapd %xmm3,%xmm1
  mulsd  (%rax,%rcx,1),%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,0x190(%rsp,%rax,1)
  add    $0x8,%rax
  cmp    %rdx,%rax
  jne    L79
  jmp    L81
L30:
  movsd  0x20(%rsp),%xmm0
  movq   %rbp,%xmm4
  divsd  %xmm4,%xmm0
  movsd  %xmm0,0x40(%rsp)
  movsd  0x28(%rsp),%xmm0
  divsd  %xmm4,%xmm0
  movsd  %xmm0,0x48(%rsp)
  movsd  0x30(%rsp),%xmm0
  divsd  %xmm4,%xmm0
  movsd  %xmm0,0x50(%rsp)
  lea    0x20(%rsp),%rdx
  lea    0x40(%rsp),%rsi
  lea    0x190(%rsp),%rdi
  call   <Matrix3MultVec@plt>
  movsd  0x20(%rsp),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x28(%rsp),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x30(%rsp),%xmm0
  jmp    L49
L29:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: read_data
arguments: data_label: D44
type: f64
name: read_data
arguments: data_label: D3
type: byte[8]

tool: D44: 1

tool: {"D3": [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;
}
```