user: 请将这段汇编代码片段转换成等效的C代码：

```asm
<target_theta>:
  endbr64
  push   %rbx
  pxor   %xmm0,%xmm0
  mov    %rsi,%rbx
  sub    $0x90,%rsp
  mov    %fs:0x28,%rax
  mov    %rax,0x88(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0x60(%rsp)
  test   %edx,%edx
  jle    L52
  movss  D106(%rip),%xmm5
  cmp    $0x1,%edx
  je     L73
  movss  %xmm5,0x64(%rsp)
  cmp    $0x2,%edx
  je     L73
  movl   $0x3d637931,0x68(%rsp)
  cmp    $0x3,%edx
  je     L73
  movl   $0x3d637acf,0x6c(%rsp)
L73:
  movss  0x64(%rsp),%xmm7
  movss  0x68(%rsp),%xmm3
  pxor   %xmm0,%xmm0
  movss  0x6c(%rsp),%xmm6
L61:
  movss  D81(%rip),%xmm2
  movss  (%rdi),%xmm4
  movss  D417(%rip),%xmm8
  movss  0x4(%rdi),%xmm1
  movss  D88(%rip),%xmm14
  subss  %xmm2,%xmm4
  subss  %xmm2,%xmm1
  movss  0x8(%rdi),%xmm2
  subss  D400(%rip),%xmm2
  mulss  %xmm5,%xmm4
  mulss  %xmm3,%xmm2
  mulss  0x8(%rbx),%xmm3
  mulss  %xmm7,%xmm1
  mulss  0x4(%rbx),%xmm7
  addss  %xmm8,%xmm4
  mulss  (%rbx),%xmm5
  addss  %xmm8,%xmm2
  movss  %xmm3,0x18(%rsp)
  movss  0xc(%rdi),%xmm3
  subss  D304(%rip),%xmm3
  addss  %xmm8,%xmm1
  mulss  %xmm4,%xmm14
  movaps %xmm4,%xmm12
  movaps %xmm2,%xmm11
  movss  %xmm7,0x14(%rsp)
  movaps %xmm4,%xmm13
  mulss  %xmm6,%xmm3
  mulss  0xc(%rbx),%xmm6
  movaps %xmm1,%xmm15
  mulss  %xmm2,%xmm11
  movss  %xmm14,0x8(%rsp)
  mulss  %xmm4,%xmm12
  movss  D287(%rip),%xmm14
  mulss  %xmm4,%xmm14
  addss  %xmm8,%xmm3
  movaps %xmm1,%xmm8
  movss  %xmm6,0x1c(%rsp)
  movss  D77(%rip),%xmm6
  mulss  %xmm1,%xmm8
  mulss  %xmm1,%xmm6
  movaps %xmm3,%xmm9
  movaps %xmm3,%xmm7
  mulss  %xmm3,%xmm9
  movaps %xmm3,%xmm10
  mulss  %xmm12,%xmm13
  mulss  %xmm8,%xmm15
  movss  %xmm6,(%rsp)
  movaps %xmm2,%xmm6
  mulss  %xmm11,%xmm6
  mulss  D275(%rip),%xmm6
  mulss  %xmm9,%xmm7
  movss  %xmm15,0x24(%rsp)
  mulss  %xmm1,%xmm15
  movss  %xmm6,0x4(%rsp)
  movss  D222(%rip),%xmm6
  mulss  %xmm7,%xmm10
  mulss  %xmm4,%xmm6
  movss  %xmm15,0x28(%rsp)
  movss  %xmm6,0xc(%rsp)
  movss  D270(%rip),%xmm6
  mulss  %xmm1,%xmm6
  movss  %xmm6,0x10(%rsp)
  movss  D83(%rip),%xmm6
  addss  %xmm14,%xmm6
  movss  D54(%rip),%xmm14
  mulss  %xmm1,%xmm14
  addss  %xmm6,%xmm14
  movss  D57(%rip),%xmm6
  mulss  %xmm2,%xmm6
  addss  %xmm14,%xmm6
  movss  D204(%rip),%xmm14
  mulss  %xmm3,%xmm14
  addss  %xmm6,%xmm14
  movss  D372(%rip),%xmm6
  mulss  %xmm10,%xmm6
  addss  %xmm14,%xmm6
  movss  D266(%rip),%xmm14
  mulss  %xmm8,%xmm14
  addss  %xmm6,%xmm14
  movss  D382(%rip),%xmm6
  mulss  %xmm4,%xmm6
  mulss  %xmm11,%xmm6
  mulss  %xmm9,%xmm6
  addss  %xmm14,%xmm6
  movss  D293(%rip),%xmm14
  mulss  %xmm8,%xmm14
  mulss  %xmm10,%xmm14
  addss  %xmm14,%xmm6
  movss  (%rsp),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm6,%xmm14
  movss  0x4(%rsp),%xmm6
  mulss  %xmm3,%xmm6
  addss  %xmm14,%xmm6
  movss  D79(%rip),%xmm14
  mulss  %xmm13,%xmm14
  mulss  %xmm8,%xmm14
  addss  %xmm6,%xmm14
  movss  D231(%rip),%xmm6
  mulss  %xmm15,%xmm6
  movss  D425(%rip),%xmm15
  mulss  %xmm8,%xmm15
  mulss  %xmm10,%xmm6
  movss  %xmm15,0x20(%rsp)
  addss  %xmm14,%xmm6
  movss  0x8(%rsp),%xmm14
  mulss  %xmm1,%xmm14
  addss  %xmm14,%xmm6
  movss  0xc(%rsp),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm6,%xmm14
  movss  0x10(%rsp),%xmm6
  mulss  %xmm3,%xmm6
  addss  %xmm6,%xmm14
  movss  D413(%rip),%xmm6
  mulss  %xmm9,%xmm6
  addss  %xmm6,%xmm14
  movaps %xmm15,%xmm6
  mulss  %xmm3,%xmm6
  addss  %xmm14,%xmm6
  movss  D291(%rip),%xmm14
  mulss  %xmm1,%xmm14
  mulss  %xmm9,%xmm14
  addss  %xmm14,%xmm6
  movss  D156(%rip),%xmm14
  mulss  %xmm13,%xmm14
  movaps %xmm14,%xmm15
  mulss  %xmm1,%xmm15
  addss  %xmm15,%xmm6
  movaps %xmm5,%xmm15
  addss  %xmm0,%xmm15
  addss  0x14(%rsp),%xmm15
  addss  0x18(%rsp),%xmm15
  addss  0x1c(%rsp),%xmm15
  ucomiss %xmm0,%xmm15
  jp     L80
  jne    L80
L45:
  movss  %xmm0,(%rbx)
  mov    0x88(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L82
  add    $0x90,%rsp
  movaps %xmm6,%xmm0
  pop    %rbx
  ret
  nopl   0x0(%rax,%rax,1)
L80:
  movss  %xmm7,0x58(%rsp)
  mulss  %xmm5,%xmm5
  mov    $0x2,%esi
  movss  D329(%rip),%xmm7
  movss  D382(%rip),%xmm0
  movss  %xmm4,0x4c(%rsp)
  movss  D88(%rip),%xmm4
  mulss  %xmm12,%xmm7
  movss  %xmm6,0x5c(%rsp)
  mulss  %xmm11,%xmm0
  movss  %xmm8,0x3c(%rsp)
  mulss  %xmm1,%xmm4
  movss  %xmm11,0x44(%rsp)
  mulss  D219(%rip),%xmm12
  movss  %xmm5,0x2c(%rsp)
  movss  %xmm10,0x38(%rsp)
  movaps %xmm7,%xmm5
  movss  %xmm13,0x54(%rsp)
  mulss  %xmm8,%xmm5
  movss  %xmm3,0x50(%rsp)
  mulss  %xmm9,%xmm0
  movss  %xmm14,0x48(%rsp)
  subss  D463(%rip),%xmm0
  mulss  %xmm1,%xmm12
  movss  %xmm9,0x40(%rsp)
  movss  %xmm2,0x34(%rsp)
  movss  %xmm1,0x30(%rsp)
  addss  %xmm5,%xmm0
  movaps %xmm4,%xmm5
  addss  %xmm0,%xmm5
  movss  D222(%rip),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm5,%xmm0
  addss  %xmm12,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0x30(%rsp),%xmm1
  mov    $0x2,%esi
  movss  D435(%rip),%xmm4
  movss  D20(%rip),%xmm5
  mulss  0x2c(%rsp),%xmm0
  mulss  %xmm1,%xmm4
  movss  0x38(%rsp),%xmm10
  movss  0x34(%rsp),%xmm2
  movss  %xmm1,0x34(%rsp)
  mulss  %xmm1,%xmm5
  movss  0x54(%rsp),%xmm13
  movss  0x50(%rsp),%xmm3
  movss  0x40(%rsp),%xmm9
  movss  0x48(%rsp),%xmm14
  movss  %xmm2,0x38(%rsp)
  movss  0x14(%rsp),%xmm7
  movss  %xmm3,0x30(%rsp)
  movss  %xmm0,0x2c(%rsp)
  mulss  %xmm7,%xmm7
  movaps %xmm4,%xmm0
  movss  D77(%rip),%xmm4
  subss  D225(%rip),%xmm0
  mulss  %xmm10,%xmm5
  mulss  %xmm2,%xmm4
  movss  %xmm7,0x14(%rsp)
  addss  %xmm0,%xmm5
  movaps %xmm4,%xmm0
  movss  D25(%rip),%xmm4
  mulss  0x24(%rsp),%xmm4
  movss  %xmm9,0x24(%rsp)
  addss  %xmm5,%xmm0
  movss  D5(%rip),%xmm5
  mulss  %xmm1,%xmm5
  mulss  %xmm13,%xmm5
  addss  %xmm0,%xmm5
  movaps %xmm4,%xmm0
  movss  D270(%rip),%xmm4
  mulss  %xmm10,%xmm0
  mulss  %xmm3,%xmm4
  addss  %xmm5,%xmm0
  movss  0x8(%rsp),%xmm5
  addss  %xmm0,%xmm5
  movaps %xmm4,%xmm0
  addss  %xmm5,%xmm0
  movaps %xmm1,%xmm5
  mulss  D7(%rip),%xmm5
  mulss  %xmm3,%xmm5
  addss  %xmm5,%xmm0
  movss  D291(%rip),%xmm5
  mulss  %xmm9,%xmm5
  addss  %xmm0,%xmm5
  addss  %xmm14,%xmm5
  cvttss2si %xmm5,%edi
  call   <pow@plt>
  mulss  0x14(%rsp),%xmm0
  movss  0x2c(%rsp),%xmm1
  mov    $0x2,%esi
  movss  0x38(%rsp),%xmm2
  movss  0x44(%rsp),%xmm11
  movss  0x4c(%rsp),%xmm4
  movss  0x30(%rsp),%xmm3
  movss  0x24(%rsp),%xmm9
  movss  0x18(%rsp),%xmm7
  movss  %xmm11,0x24(%rsp)
  movss  %xmm4,0x2c(%rsp)
  addss  %xmm0,%xmm1
  movss  D260(%rip),%xmm0
  mulss  %xmm7,%xmm7
  movss  %xmm3,0x18(%rsp)
  mulss  %xmm2,%xmm0
  movaps %xmm11,%xmm2
  mulss  D256(%rip),%xmm2
  movss  %xmm1,0x8(%rsp)
  movss  %xmm7,0x14(%rsp)
  mulss  %xmm4,%xmm0
  mulss  %xmm3,%xmm2
  mulss  %xmm9,%xmm0
  addss  D57(%rip),%xmm0
  addss  (%rsp),%xmm0
  addss  %xmm2,%xmm0
  addss  0xc(%rsp),%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0x1c(%rsp),%xmm4
  mov    $0x2,%esi
  movss  0x18(%rsp),%xmm3
  movss  D260(%rip),%xmm1
  mulss  0x14(%rsp),%xmm0
  mulss  %xmm4,%xmm4
  addss  0x8(%rsp),%xmm0
  movss  0x24(%rsp),%xmm11
  mulss  %xmm3,%xmm1
  movss  0x58(%rsp),%xmm7
  movss  D361(%rip),%xmm2
  movss  0x3c(%rsp),%xmm8
  movss  %xmm0,(%rsp)
  mulss  %xmm7,%xmm2
  addss  D204(%rip),%xmm2
  movss  %xmm4,0x8(%rsp)
  movss  0x2c(%rsp),%xmm4
  movaps %xmm1,%xmm0
  movss  0x34(%rsp),%xmm1
  mulss  %xmm4,%xmm0
  mulss  %xmm11,%xmm0
  addss  %xmm2,%xmm0
  movss  D152(%rip),%xmm2
  mulss  %xmm7,%xmm2
  mulss  %xmm8,%xmm2
  addss  %xmm2,%xmm0
  movss  D25(%rip),%xmm2
  addss  0x4(%rsp),%xmm0
  mulss  %xmm7,%xmm2
  mulss  0x28(%rsp),%xmm2
  addss  %xmm2,%xmm0
  movss  D101(%rip),%xmm2
  addss  0x10(%rsp),%xmm0
  mulss  %xmm3,%xmm2
  mulss  D232(%rip),%xmm3
  addss  %xmm2,%xmm0
  addss  0x20(%rsp),%xmm0
  mulss  %xmm1,%xmm3
  addss  %xmm3,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  mulss  0x8(%rsp),%xmm0
  addss  (%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm6
  jmp    L45
  nopl   0x0(%rax)
L52:
  pxor   %xmm0,%xmm0
  movaps %xmm0,%xmm6
  movaps %xmm0,%xmm3
  movaps %xmm0,%xmm7
  movaps %xmm0,%xmm5
  jmp    L61
L82:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: data_tag: D106
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D81
type_guessed: f32
name: disassemble_data
arguments: data_tag: D417
type_guessed: f32
name: disassemble_data
arguments: data_tag: D88
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D400
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D304
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D287
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D77
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D275
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D222
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D270
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D83
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D54
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D57
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D204
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D372
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D266
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D382
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D293
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D79
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D231
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D425
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D413
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D291
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D156
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D329
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D219
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D463
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D435
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D20
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D225
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D25
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D5
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D7
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D260
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D256
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D361
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D152
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D101
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D232
type_guessed: byte[4]

tool: {"D106": [0x89,0x88,0x88,0x3d]}

tool: D81: 15

tool: D417: 1

tool: {"D88": [0x6f,0x78,0xf5,0xb6]}

tool: {"D400": [0x7b,0x14,0x90,0x41]}

tool: {"D304": [0x19,0x04,0x90,0x41]}

tool: {"D287": [0xd3,0xe3,0x02,0xbd]}

tool: {"D77": [0xc4,0x88,0x3c,0x37]}

tool: {"D275": [0x47,0x27,0x37,0x38]}

tool: {"D222": [0x76,0x3a,0x9e,0xb6]}

tool: {"D270": [0x68,0x67,0x85,0x3a]}

tool: {"D83": [0x30,0x3d,0x27,0x3d]}

tool: {"D54": [0x68,0xb6,0x4c,0xbd]}

tool: {"D57": [0xa0,0xdf,0x49,0x3d]}

tool: {"D204": [0xfe,0x8f,0x6a,0x3d]}

tool: {"D372": [0x7d,0x29,0xac,0xb8]}

tool: {"D266": [0x77,0x20,0xc5,0xb9]}

tool: {"D382": [0x51,0xea,0xda,0x38]}

tool: {"D293": [0x5c,0x00,0x3b,0x39]}

tool: {"D79": [0x62,0x58,0x1d,0xb8]}

tool: {"D231": [0x66,0xe4,0xe4,0xb8]}

tool: {"D425": [0x48,0x66,0x6c,0x38]}

tool: {"D413": [0x51,0x7c,0x35,0xba]}

tool: {"D291": [0x3f,0xaa,0x9b,0xb8]}

tool: {"D156": [0x3c,0xad,0x8e,0xb7]}

tool: {"D329": [0x93,0x04,0xec,0xb8]}

tool: {"D219": [0xda,0x03,0x56,0xb8]}

tool: {"D463": [0xd3,0xe3,0x02,0x3d]}

tool: {"D435": [0x77,0x20,0x45,0xba]}

tool: {"D20": [0x5c,0x00,0xbb,0x39]}

tool: {"D225": [0x68,0xb6,0x4c,0x3d]}

tool: {"D25": [0x66,0xe4,0xe4,0xb9]}

tool: {"D5": [0x62,0x58,0x9d,0xb8]}

tool: {"D7": [0x48,0x66,0xec,0x38]}

tool: {"D260": [0x51,0xea,0x5a,0x39]}

tool: {"D256": [0x75,0x5d,0x09,0x39]}

tool: {"D361": [0x7d,0x29,0xac,0xb9]}

tool: {"D152": [0x5c,0x00,0x3b,0x3a]}

tool: {"D101": [0x51,0x7c,0xb5,0xba]}

tool: {"D232": [0x3f,0xaa,0x1b,0xb9]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.4081295E-01;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18003E+02, -0.18010E+02, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00};
  float xmax[10] = {0.15000E+02, 0.15000E+02, 0.18010E+02, 0.18002E+02, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00};
  float scale[10] = {0};
  float coeff[21] = {0.16888196E-04, -0.31955551E-01, -0.49978644E-01, 0.49285531E-01, 0.57266228E-01, -0.82093269E-04, -0.37598956E-03, 0.10438695E-03, 0.17833844E-03, 0.11237516E-04, 0.43667180E-04, -0.37514030E-04, -0.10914430E-03, -0.73155893E-05, -0.47155727E-05, 0.10177912E-02, -0.69231266E-03, 0.56362042E-04, -0.74226868E-04, -0.17008388E-04, 0.};
  int ientry = 0;
  int i;
  if (ientry == 0) {
    ientry = 1;
    for (i = 0; i < m; i++) {
      if (xmin[i] == xmax[i])
        continue;
      scale[i] = 2. / (xmax[i] - xmin[i]);
    }
  }
  float x1 = 1. + (x[0] - xmax[0]) * scale[0];
  float dx1 = dx[0] * scale[0];
  float x2 = 1. + (x[1] - xmax[1]) * scale[1];
  float dx2 = dx[1] * scale[1];
  float x3 = 1. + (x[2] - xmax[2]) * scale[2];
  float dx3 = dx[2] * scale[2];
  float x4 = 1. + (x[3] - xmax[3]) * scale[3];
  float dx4 = dx[3] * scale[3];
  float x11 = x1;
  float x12 = x11 * x1;
  float x13 = x12 * x1;
  float x21 = x2;
  float x22 = x21 * x2;
  float x23 = x22 * x2;
  float x24 = x23 * x2;
  float x31 = x3;
  float x32 = x31 * x3;
  float x33 = x32 * x3;
  float x41 = x4;
  float x42 = x41 * x4;
  float x43 = x42 * x4;
  float x44 = x43 * x4;
  float v_target_theta = avdat + coeff[0] + coeff[1] * x11 + coeff[2] * x21 + coeff[3] * x31 + coeff[4] * x41 + coeff[5] * x44 + coeff[6] * x22 + coeff[7] * x11 * x32 * x42;
  v_target_theta = v_target_theta + coeff[8] * x22 * x44 + coeff[9] * x21 * x31 + coeff[10] * x33 * x41 + coeff[11] * x13 * x22 + coeff[12] * x24 * x44 + coeff[13] * x11 * x21 + coeff[14] * x11 * x31 + coeff[15] * x21 * x41 + coeff[16] * x42;
  v_target_theta = v_target_theta + coeff[17] * x22 * x41 + coeff[18] * x21 * x42 + coeff[19] * x13 * x21;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + coeff[1] + coeff[7] * x32 * x42 + 3 * coeff[11] * x12 * x22 + coeff[13] * x21 + coeff[14] * x31 + 3 * coeff[19] * x12 * x21, 2) + dx2 * dx2 * pow(0 + coeff[2] + 2 * coeff[6] * x21 + 2 * coeff[8] * x21 * x44 + coeff[9] * x31 + 2 * coeff[11] * x21 * x13 + 4 * coeff[12] * x23 * x44 + coeff[13] * x11 + coeff[15] * x41 + 2 * coeff[17] * x21 * x41 + coeff[18] * x42 + coeff[19] * x13, 2) + dx3 * dx3 * pow(0 + coeff[3] + 2 * coeff[7] * x31 * x11 * x42 + coeff[9] * x21 + 3 * coeff[10] * x32 * x41 + coeff[14] * x11, 2) + dx4 * dx4 * pow(0 + coeff[4] + 4 * coeff[5] * x43 + 2 * coeff[7] * x41 * x11 * x32 + 4 * coeff[8] * x43 * x22 + coeff[10] * x33 + 4 * coeff[12] * x43 * x24 + coeff[15] * x21 + 2 * coeff[16] * x41 + coeff[17] * x22 + 2 * coeff[18] * x41 * x21, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```