user: What is the c source code of the assembly code below:

```asm
<doubles_rpy_to_quat>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x70,%rsp
  mov    %rdi,-0x68(%rbp)
  mov    %rsi,-0x70(%rbp)
  mov    -0x68(%rbp),%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x60(%rbp)
  mov    -0x68(%rbp),%rax
  add    $0x8,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x58(%rbp)
  mov    -0x68(%rbp),%rax
  add    $0x10,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movsd  -0x60(%rbp),%xmm0
  movsd  D22(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x48(%rbp)
  movsd  -0x58(%rbp),%xmm0
  movsd  D22(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x40(%rbp)
  movsd  -0x50(%rbp),%xmm0
  movsd  D22(%rip),%xmm1
  divsd  %xmm1,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  mov    -0x48(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x30(%rbp)
  mov    -0x40(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x28(%rbp)
  mov    -0x38(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x20(%rbp)
  mov    -0x48(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  mov    -0x40(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x10(%rbp)
  mov    -0x38(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  pxor   %xmm0,%xmm0
  cvtsi2sd %rax,%xmm0
  movsd  %xmm0,-0x8(%rbp)
  movsd  -0x18(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x8(%rbp),%xmm1
  movsd  -0x30(%rbp),%xmm0
  mulsd  -0x28(%rbp),%xmm0
  mulsd  -0x20(%rbp),%xmm0
  addsd  %xmm1,%xmm0
  mov    -0x70(%rbp),%rax
  movsd  %xmm0,(%rax)
  movsd  -0x30(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  mulsd  -0x8(%rbp),%xmm0
  movsd  -0x18(%rbp),%xmm1
  mulsd  -0x28(%rbp),%xmm1
  mulsd  -0x20(%rbp),%xmm1
  mov    -0x70(%rbp),%rax
  add    $0x8,%rax
  subsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x18(%rbp),%xmm0
  mulsd  -0x28(%rbp),%xmm0
  movapd %xmm0,%xmm1
  mulsd  -0x8(%rbp),%xmm1
  movsd  -0x30(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  mulsd  -0x20(%rbp),%xmm0
  mov    -0x70(%rbp),%rax
  add    $0x10,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x18(%rbp),%xmm0
  mulsd  -0x10(%rbp),%xmm0
  mulsd  -0x20(%rbp),%xmm0
  movsd  -0x30(%rbp),%xmm1
  mulsd  -0x28(%rbp),%xmm1
  mulsd  -0x8(%rbp),%xmm1
  mov    -0x70(%rbp),%rax
  add    $0x18,%rax
  subsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  nop
  leave
  ret
```

tool_calls: name: extract_symbolic_data
arguments: label: D22
datatype: f64

tool: D22: 2

assistant: ```c
void doubles_rpy_to_quat(const double rpy[3], double quat[4]) {
  double roll = rpy[0], pitch = rpy[1], yaw = rpy[2];
  double halfroll = roll / 2;
  double halfpitch = pitch / 2;
  double halfyaw = yaw / 2;
  double sin_r2 = (double)sin(halfroll);
  double sin_p2 = (double)sin(halfpitch);
  double sin_y2 = (double)sin(halfyaw);
  double cos_r2 = (double)cos(halfroll);
  double cos_p2 = (double)cos(halfpitch);
  double cos_y2 = (double)cos(halfyaw);
  quat[0] = cos_r2 * cos_p2 * cos_y2 + sin_r2 * sin_p2 * sin_y2;
  quat[1] = sin_r2 * cos_p2 * cos_y2 - cos_r2 * sin_p2 * sin_y2;
  quat[2] = cos_r2 * sin_p2 * cos_y2 + sin_r2 * cos_p2 * sin_y2;
  quat[3] = cos_r2 * cos_p2 * sin_y2 - sin_r2 * sin_p2 * cos_y2;
}
```