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

```asm
<MatrixLog6>:
  endbr64
  push   %r14
  push   %r13
  push   %r12
  mov    %rdi,%r12
  push   %rbp
  push   %rbx
  mov    %rsi,%rbx
  sub    $0x1e0,%rsp
  mov    %fs:0x28,%rax
  mov    %rax,0x1d8(%rsp)
  xor    %eax,%eax
  lea    0x50(%rsp),%r14
  lea    0x10(%rsp),%r13
  mov    %r13,%rdx
  mov    %r14,%rsi
  lea    0xa0(%rsp),%rbp
  call   <TransToRp@plt>
  mov    %rbp,%rsi
  mov    %r14,%rdi
  call   <MatrixLog3@plt>
  mov    %rbp,%rax
  xor    %edx,%edx
  mov    $0x1,%esi
  movq   D69(%rip),%xmm2
  movsd  D60(%rip),%xmm1
  lea    0xe8(%rsp),%rcx
L91:
  movsd  (%rax),%xmm0
  andpd  %xmm2,%xmm0
  comisd %xmm0,%xmm1
  ja     L22
L8:
  mov    $0x1,%edx
L0:
  add    $0x18,%rax
  cmp    %rcx,%rax
  jne    L91
  test   %edx,%edx
  jne    L3
  movq   $0x0,(%rbx)
  movq   $0x0,0x8(%rbx)
  movq   $0x0,0x10(%rbx)
  movq   $0x0,0x20(%rbx)
  movq   $0x0,0x28(%rbx)
  movq   $0x0,0x30(%rbx)
  movq   $0x0,0x40(%rbx)
  movq   $0x0,0x48(%rbx)
  movq   $0x0,0x50(%rbx)
  movsd  0x18(%r12),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x38(%r12),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x58(%r12),%xmm0
L94:
  movq   $0x0,0x60(%rbx)
  movq   $0x0,0x68(%rbx)
  movq   $0x0,0x70(%rbx)
  movq   $0x0,0x78(%rbx)
  movsd  %xmm0,0x58(%rbx)
  mov    0x1d8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L106
  add    $0x1e0,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  ret
L22:
  movsd  0x8(%rax),%xmm0
  andpd  %xmm2,%xmm0
  comisd %xmm0,%xmm1
  jbe    L8
  movsd  0x10(%rax),%xmm0
  andpd  %xmm2,%xmm0
  comisd %xmm0,%xmm1
  cmovbe %esi,%edx
  jmp    L0
  nopl   0x0(%rax,%rax,1)
L3:
  movsd  0x50(%rsp),%xmm0
  addsd  0x70(%rsp),%xmm0
  movq   $0x0,0xf8(%rsp)
  lea    0x140(%rsp),%r12
  movsd  D48(%rip),%xmm1
  addsd  0x90(%rsp),%xmm0
  movq   $0x0,0x100(%rsp)
  movsd  D45(%rip),%xmm3
  movq   $0x0,0x108(%rsp)
  movsd  %xmm1,0x110(%rsp)
  movsd  %xmm1,0x130(%rsp)
  subsd  %xmm1,%xmm0
  movq   $0x0,0x118(%rsp)
  movq   $0x0,0x120(%rsp)
  movq   $0x0,0x128(%rsp)
  mulsd  %xmm3,%xmm0
  call   <acos@plt>
  mov    %r12,%rdx
  mov    %rbp,%rdi
  mov    %rbp,%rsi
  mov    0xb0(%rsp),%rax
  movsd  %xmm0,0x8(%rsp)
  movdqa 0xd0(%rsp),%xmm5
  movdqa 0xa0(%rsp),%xmm6
  movdqu 0xb8(%rsp),%xmm7
  mov    %rax,0x10(%rbx)
  mov    0xc8(%rsp),%rax
  movups %xmm5,0x40(%rbx)
  mov    %rax,0x30(%rbx)
  mov    0xe0(%rsp),%rax
  movups %xmm6,(%rbx)
  mov    %rax,0x50(%rbx)
  movups %xmm7,0x20(%rbx)
  call   <Matrix3Mult@plt>
  movsd  0x8(%rsp),%xmm2
  mov    D45(%rip),%rax
  movapd %xmm2,%xmm0
  movq   %rax,%xmm3
  mulsd  %xmm3,%xmm0
  call   <tan@plt>
  movsd  0x8(%rsp),%xmm2
  mov    D48(%rip),%rax
  mov    $0x18,%edx
  movapd %xmm0,%xmm5
  lea    0x190(%rsp),%rdi
  movq   %rax,%xmm1
  movq   %rax,%xmm4
  mov    D45(%rip),%rax
  divsd  %xmm2,%xmm4
  movq   %rax,%xmm0
  movq   %rax,%xmm3
  divsd  %xmm5,%xmm0
  subsd  %xmm0,%xmm4
  movapd %xmm1,%xmm0
L48:
  lea    -0x18(%rdx),%rax
L55:
  movsd  0x0(%rbp,%rax,1),%xmm1
  mulsd  %xmm3,%xmm1
  subsd  %xmm1,%xmm0
  movsd  (%r12,%rax,1),%xmm1
  mulsd  %xmm4,%xmm1
  divsd  %xmm2,%xmm1
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rdi,%rax,1)
  add    $0x8,%rax
  cmp    %rdx,%rax
  je     L66
  movsd  0xf0(%rsp,%rax,1),%xmm0
  jmp    L55
  nopw   0x0(%rax,%rax,1)
L66:
  cmp    $0x48,%rdx
  je     L81
  movsd  0xf0(%rsp,%rdx,1),%xmm0
  add    $0x18,%rdx
  jmp    L48
  nopl   (%rax)
L81:
  lea    0x30(%rsp),%rdx
  mov    %r13,%rsi
  call   <Matrix3MultVec@plt>
  movsd  0x30(%rsp),%xmm0
  movsd  %xmm0,0x18(%rbx)
  movsd  0x38(%rsp),%xmm0
  movsd  %xmm0,0x38(%rbx)
  movsd  0x40(%rsp),%xmm0
  jmp    L94
L106:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: read_data
arguments: label: D69
type: qword
name: read_data
arguments: label: D60
type: byte[8]
name: read_data
arguments: label: D48
type: f64
name: read_data
arguments: label: D45
type: f64

tool: D69: 9223372036854775807

tool: {"D60": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: D48: 1

tool: D45: 0.5

assistant: ```c
void MatrixLog6(double T[4][4], double se3Mat[4][4]) {
  int i;
  int j;
  double R[3][3];
  double so3mat[3][3];
  double p[3];
  TransToRp(T, R, p);
  MatrixLog3(R, so3mat);
  int flag = 0;
  for (i = 0; i < 3; i++) {
    for (j = 0; j < 3; j++) {
      if (fabs(so3mat[i][j]) < 1.0E-6) {
        continue;
      } else {
        flag = 1;
        break;
      }
    }
  }
  if (!flag) {
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        se3Mat[i][j] = 0.0;
      }
    }
    se3Mat[0][3] = T[0][3];
    se3Mat[1][3] = T[1][3];
    se3Mat[2][3] = T[2][3];
    se3Mat[3][0] = 0.0;
    se3Mat[3][1] = 0.0;
    se3Mat[3][2] = 0.0;
    se3Mat[3][3] = 0.0;
  } else {
    double MatI3[3][3] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    double v[3];
    double temp[3][3];
    double InvGtheta[3][3];
    double theta = acos((R[0][0] + R[1][1] + R[2][2] - 1.0) / 2.0);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        se3Mat[i][j] = so3mat[i][j];
      }
    }
    Matrix3Mult(so3mat, so3mat, temp);
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        InvGtheta[i][j] = MatI3[i][j] - 0.5 * so3mat[i][j] + (1.0 / theta - 0.5 * 1.0 / tan(0.5 * theta)) * temp[i][j] / theta;
      }
    }
    Matrix3MultVec(InvGtheta, p, v);
    se3Mat[0][3] = v[0];
    se3Mat[1][3] = v[1];
    se3Mat[2][3] = v[2];
    se3Mat[3][0] = 0.0;
    se3Mat[3][1] = 0.0;
    se3Mat[3][2] = 0.0;
    se3Mat[3][3] = 0.0;
  }
  return;
}
```