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

```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    L72
  movss  D51(%rip),%xmm6
  cmp    $0x1,%edx
  je     L52
  movss  %xmm6,0x64(%rsp)
  cmp    $0x2,%edx
  je     L52
  movl   $0x3d638e39,0x68(%rsp)
  cmp    $0x3,%edx
  je     L52
  movl   $0x3d638afd,0x6c(%rsp)
L52:
  movss  0x64(%rsp),%xmm7
  movss  0x68(%rsp),%xmm1
  pxor   %xmm5,%xmm5
  movss  0x6c(%rsp),%xmm0
L34:
  movss  D402(%rip),%xmm2
  movss  (%rdi),%xmm4
  movss  D337(%rip),%xmm8
  movss  0x4(%rdi),%xmm3
  movss  D218(%rip),%xmm10
  subss  %xmm2,%xmm4
  movss  D423(%rip),%xmm15
  movss  D415(%rip),%xmm13
  subss  %xmm2,%xmm3
  movss  0x8(%rdi),%xmm2
  subss  D367(%rip),%xmm2
  mulss  %xmm6,%xmm4
  mulss  %xmm7,%xmm3
  mulss  %xmm1,%xmm2
  mulss  0x8(%rbx),%xmm1
  mulss  (%rbx),%xmm6
  addss  %xmm8,%xmm4
  mulss  0x4(%rbx),%xmm7
  addss  %xmm8,%xmm3
  addss  %xmm8,%xmm2
  movss  %xmm1,0x14(%rsp)
  movss  0xc(%rdi),%xmm1
  mulss  %xmm4,%xmm10
  subss  D427(%rip),%xmm1
  mulss  %xmm4,%xmm15
  movaps %xmm4,%xmm9
  movaps %xmm3,%xmm12
  mulss  %xmm4,%xmm9
  mulss  %xmm0,%xmm1
  mulss  0xc(%rbx),%xmm0
  mulss  %xmm3,%xmm13
  movss  %xmm15,0x18(%rsp)
  mulss  %xmm2,%xmm15
  addss  D208(%rip),%xmm13
  mulss  %xmm3,%xmm12
  addss  %xmm8,%xmm1
  movaps %xmm2,%xmm8
  mulss  %xmm2,%xmm8
  movaps %xmm0,%xmm14
  movss  D384(%rip),%xmm0
  mulss  %xmm3,%xmm0
  movaps %xmm1,%xmm11
  mulss  %xmm1,%xmm11
  movss  %xmm0,0x4(%rsp)
  movaps %xmm10,%xmm0
  mulss  %xmm3,%xmm0
  movss  %xmm0,0x8(%rsp)
  movss  D412(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm8,%xmm0
  movss  %xmm0,0xc(%rsp)
  movss  D202(%rip),%xmm0
  mulss  %xmm9,%xmm0
  movss  %xmm0,0x10(%rsp)
  movss  D386(%rip),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm13,%xmm0
  movaps %xmm15,%xmm13
  movss  D345(%rip),%xmm15
  mulss  %xmm8,%xmm15
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  movss  D138(%rip),%xmm15
  addss  %xmm13,%xmm0
  movss  0x4(%rsp),%xmm13
  mulss  %xmm12,%xmm15
  mulss  %xmm1,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  movss  D366(%rip),%xmm15
  mulss  %xmm4,%xmm15
  addss  %xmm13,%xmm0
  movaps %xmm15,%xmm13
  movss  D288(%rip),%xmm15
  addss  %xmm0,%xmm13
  mulss  %xmm2,%xmm15
  movaps %xmm15,%xmm0
  movss  D261(%rip),%xmm15
  addss  %xmm13,%xmm0
  mulss  %xmm9,%xmm15
  movaps %xmm15,%xmm13
  movss  D156(%rip),%xmm15
  addss  %xmm0,%xmm13
  mulss  %xmm11,%xmm15
  movaps %xmm15,%xmm0
  movss  D144(%rip),%xmm15
  addss  %xmm13,%xmm0
  movss  0x8(%rsp),%xmm13
  mulss  %xmm3,%xmm15
  mulss  %xmm2,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  movss  D179(%rip),%xmm15
  mulss  %xmm8,%xmm0
  mulss  %xmm8,%xmm15
  addss  %xmm13,%xmm0
  movss  0xc(%rsp),%xmm13
  movss  %xmm15,0x24(%rsp)
  mulss  %xmm1,%xmm13
  addss  %xmm13,%xmm0
  movss  D341(%rip),%xmm13
  mulss  %xmm8,%xmm13
  mulss  %xmm11,%xmm13
  addss  %xmm0,%xmm13
  movss  0x10(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm0,%xmm13
  movss  D149(%rip),%xmm0
  mulss  %xmm4,%xmm0
  movss  %xmm0,0x1c(%rsp)
  mulss  %xmm2,%xmm0
  movss  %xmm0,0x20(%rsp)
  mulss  %xmm1,%xmm0
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm13,%xmm0
  movss  D323(%rip),%xmm13
  mulss  %xmm9,%xmm13
  mulss  %xmm12,%xmm13
  addss  %xmm13,%xmm0
  movss  D425(%rip),%xmm13
  mulss  %xmm9,%xmm13
  movaps %xmm13,%xmm15
  mulss  %xmm3,%xmm15
  movss  %xmm15,0x28(%rsp)
  mulss  %xmm1,%xmm15
  addss  %xmm0,%xmm15
  movaps %xmm6,%xmm0
  addss  %xmm5,%xmm0
  addss  %xmm7,%xmm0
  addss  0x14(%rsp),%xmm0
  addss  %xmm14,%xmm0
  ucomiss %xmm5,%xmm0
  jp     L30
  movaps %xmm5,%xmm0
  jne    L30
L15:
  movss  %xmm0,(%rbx)
  mov    0x88(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L41
  add    $0x90,%rsp
  movaps %xmm15,%xmm0
  pop    %rbx
  ret
  nopl   0x0(%rax)
L30:
  movss  %xmm5,0x44(%rsp)
  mulss  %xmm6,%xmm6
  mov    $0x2,%edi
  movss  D423(%rip),%xmm0
  movss  %xmm15,0x5c(%rsp)
  mulss  %xmm2,%xmm0
  movss  %xmm14,0x4c(%rsp)
  movss  %xmm11,0x58(%rsp)
  movss  %xmm8,0x54(%rsp)
  movss  %xmm6,0x2c(%rsp)
  movss  %xmm9,0x50(%rsp)
  addss  %xmm5,%xmm0
  movss  D130(%rip),%xmm5
  addss  D366(%rip),%xmm0
  movss  %xmm7,0x30(%rsp)
  movss  %xmm13,0x48(%rsp)
  mulss  %xmm4,%xmm5
  movss  %xmm10,0x40(%rsp)
  movss  %xmm2,0x3c(%rsp)
  movss  %xmm3,0x38(%rsp)
  movss  %xmm1,0x34(%rsp)
  movaps %xmm5,%xmm6
  movss  D378(%rip),%xmm5
  addss  %xmm0,%xmm6
  movss  D218(%rip),%xmm0
  mulss  %xmm4,%xmm5
  mulss  %xmm3,%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm6,%xmm0
  movaps %xmm5,%xmm6
  movss  D195(%rip),%xmm5
  mulss  %xmm1,%xmm6
  mulss  %xmm4,%xmm5
  mulss  D84(%rip),%xmm4
  addss  %xmm0,%xmm6
  movss  D149(%rip),%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm3,%xmm4
  mulss  %xmm1,%xmm0
  mulss  %xmm1,%xmm4
  addss  %xmm6,%xmm0
  movaps %xmm5,%xmm6
  mulss  %xmm12,%xmm6
  addss  %xmm0,%xmm6
  movaps %xmm6,%xmm0
  addss  %xmm4,%xmm0
  call   <pow@plt>
  movss  0x34(%rsp),%xmm1
  mov    $0x2,%edi
  movss  D384(%rip),%xmm6
  mulss  0x2c(%rsp),%xmm0
  movss  0x38(%rsp),%xmm3
  mulss  %xmm1,%xmm6
  movss  D93(%rip),%xmm4
  movss  0x3c(%rsp),%xmm2
  movss  0x40(%rsp),%xmm10
  movss  0x54(%rsp),%xmm8
  mulss  %xmm3,%xmm4
  movss  0x50(%rsp),%xmm9
  movss  0x48(%rsp),%xmm13
  movss  %xmm2,0x40(%rsp)
  mulss  %xmm2,%xmm10
  movss  0x30(%rsp),%xmm7
  movss  %xmm8,0x3c(%rsp)
  movss  %xmm0,0x2c(%rsp)
  mulss  %xmm1,%xmm13
  mulss  %xmm7,%xmm7
  movaps %xmm6,%xmm0
  subss  D214(%rip),%xmm0
  movss  D412(%rip),%xmm6
  mulss  %xmm8,%xmm6
  addss  %xmm4,%xmm0
  movss  %xmm7,0x30(%rsp)
  movaps %xmm0,%xmm4
  addss  %xmm10,%xmm4
  movaps %xmm6,%xmm0
  movss  D144(%rip),%xmm10
  mulss  %xmm1,%xmm0
  mulss  %xmm8,%xmm10
  addss  %xmm4,%xmm10
  movss  D195(%rip),%xmm4
  mulss  %xmm3,%xmm4
  addss  %xmm10,%xmm0
  mulss  %xmm9,%xmm4
  addss  %xmm0,%xmm4
  addss  %xmm13,%xmm4
  movaps %xmm4,%xmm0
  call   <pow@plt>
  mulss  0x30(%rsp),%xmm0
  movss  0x40(%rsp),%xmm2
  mov    $0x2,%edi
  movss  0x2c(%rsp),%xmm7
  movss  D141(%rip),%xmm4
  movss  0x38(%rsp),%xmm3
  movss  0x44(%rsp),%xmm5
  mulss  %xmm2,%xmm4
  addss  0x18(%rsp),%xmm5
  movss  0x34(%rsp),%xmm1
  movss  0x58(%rsp),%xmm11
  addss  %xmm0,%xmm7
  movss  D171(%rip),%xmm0
  movss  %xmm1,0x18(%rsp)
  mulss  %xmm2,%xmm0
  mulss  %xmm3,%xmm4
  movss  %xmm7,0x2c(%rsp)
  movss  0x14(%rsp),%xmm7
  mulss  %xmm7,%xmm7
  addss  %xmm5,%xmm0
  subss  D83(%rip),%xmm0
  addss  0x8(%rsp),%xmm0
  movss  %xmm7,0x14(%rsp)
  addss  %xmm4,%xmm0
  movss  D46(%rip),%xmm4
  mulss  %xmm2,%xmm4
  mulss  %xmm4,%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm3,%xmm0
  movss  D239(%rip),%xmm3
  mulss  %xmm2,%xmm3
  mulss  D20(%rip),%xmm2
  mulss  %xmm11,%xmm3
  mulss  %xmm1,%xmm2
  addss  %xmm3,%xmm0
  movss  0x1c(%rsp),%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm3,%xmm0
  addss  %xmm2,%xmm0
  call   <pow@plt>
  movss  0x18(%rsp),%xmm1
  movss  D5(%rip),%xmm2
  mov    $0x2,%edi
  mulss  0x14(%rsp),%xmm0
  movss  0x3c(%rsp),%xmm8
  mulss  %xmm1,%xmm2
  addss  0x2c(%rsp),%xmm0
  movss  D386(%rip),%xmm7
  mulss  D239(%rip),%xmm1
  addss  0x4(%rsp),%xmm7
  movss  0x4c(%rsp),%xmm14
  movss  %xmm0,0x8(%rsp)
  mulss  %xmm14,%xmm14
  movaps %xmm7,%xmm0
  addss  %xmm2,%xmm0
  addss  0xc(%rsp),%xmm0
  mulss  %xmm8,%xmm1
  movss  %xmm14,0x14(%rsp)
  addss  %xmm1,%xmm0
  addss  0x10(%rsp),%xmm0
  addss  0x20(%rsp),%xmm0
  addss  0x24(%rsp),%xmm0
  addss  0x28(%rsp),%xmm0
  call   <pow@plt>
  mulss  0x14(%rsp),%xmm0
  addss  0x8(%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm15
  jmp    L15
L72:
  pxor   %xmm5,%xmm5
  movaps %xmm5,%xmm0
  movaps %xmm5,%xmm1
  movaps %xmm5,%xmm7
  movaps %xmm5,%xmm6
  jmp    L34
L41:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: data_tag: D51
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D402
type_guessed: f32
name: disassemble_data
arguments: data_tag: D337
type_guessed: f32
name: disassemble_data
arguments: data_tag: D218
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D423
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D415
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D367
type_guessed: f32
name: disassemble_data
arguments: data_tag: D427
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D208
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D384
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D412
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D202
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D386
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D345
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D138
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D366
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D288
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D261
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D156
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D144
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D179
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D341
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D149
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D323
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D425
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D130
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D378
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D195
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D84
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D93
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D214
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D141
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D171
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D83
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D46
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D239
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D20
type_guessed: byte[4]
name: disassemble_data
arguments: data_tag: D5
type_guessed: byte[4]

tool: {"D51": [0x89,0x88,0x88,0x3d]}

tool: D402: 15

tool: D337: 1

tool: {"D218": [0xf2,0x25,0xce,0xb8]}

tool: {"D423": [0x4e,0x06,0x04,0x3c]}

tool: {"D415": [0xa1,0x9c,0x62,0xbd]}

tool: D367: 18

tool: {"D427": [0x79,0xe9,0x8f,0x41]}

tool: {"D208": [0x31,0xa5,0x87,0x3d]}

tool: {"D384": [0xc0,0xfe,0x54,0xbb]}

tool: {"D412": [0x70,0xda,0x59,0x39]}

tool: {"D202": [0x60,0xf1,0x4a,0xb8]}

tool: {"D386": [0xf4,0x39,0x87,0x3d]}

tool: {"D345": [0xad,0xe3,0xd3,0xbb]}

tool: {"D138": [0x1c,0xa3,0x51,0x3a]}

tool: {"D366": [0x58,0x13,0x63,0x39]}

tool: {"D288": [0x7b,0xef,0xb4,0xb9]}

tool: {"D261": [0xe5,0x2e,0x23,0xbb]}

tool: {"D156": [0x4d,0x27,0x4d,0x3b]}

tool: {"D144": [0x94,0x79,0x16,0x39]}

tool: {"D179": [0x1c,0x3b,0xa2,0xb9]}

tool: {"D341": [0x41,0xc7,0x9c,0xb9]}

tool: {"D149": [0xa7,0x43,0x93,0x39]}

tool: {"D323": [0xa4,0x39,0xd9,0xb8]}

tool: {"D425": [0x38,0x0c,0x18,0x39]}

tool: {"D130": [0xe5,0x2e,0xa3,0xbb]}

tool: {"D378": [0x60,0xf1,0xca,0xb8]}

tool: {"D195": [0xa4,0x39,0x59,0xb9]}

tool: {"D84": [0x38,0x0c,0x98,0x39]}

tool: {"D93": [0x1c,0xa3,0xd1,0x3a]}

tool: {"D214": [0xa1,0x9c,0x62,0x3d]}

tool: {"D141": [0x94,0x79,0x96,0x39]}

tool: {"D171": [0xad,0xe3,0x53,0xbc]}

tool: {"D83": [0x7b,0xef,0xb4,0x39]}

tool: {"D46": [0x70,0xda,0xd9,0x39]}

tool: {"D239": [0x41,0xc7,0x1c,0xba]}

tool: {"D20": [0x1c,0x3b,0x22,0xba]}

tool: {"D5": [0x4d,0x27,0xcd,0x3b]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.6618826E-01;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18000E+02, -0.18013E+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, 0.18000E+02, 0.17989E+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] = {0.44787688E-04, -0.55325154E-01, 0.66028506E-01, 0.80581438E-02, -0.64663501E-02, -0.32500476E-02, 0.79970225E-03, 0.21655613E-03, -0.34510702E-03, -0.24899777E-02, 0.31303943E-02, -0.98299133E-04, 0.14350406E-03, 0.20776107E-03, -0.29903094E-03, -0.48385351E-04, 0.28088430E-03, -0.30943088E-03, -0.10358103E-03, 0.14500401E-03, 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 x21 = x2;
  float x22 = x21 * x2;
  float x31 = x3;
  float x32 = x31 * x3;
  float x41 = x4;
  float x42 = x41 * x4;
  float v_target_theta = avdat + coeff[0] + coeff[1] * x21 + coeff[2] * x41 + coeff[3] * x11 * x31 + coeff[4] * x32 + coeff[5] * x21 * x41 + coeff[6] * x22 + coeff[7] * x11;
  v_target_theta = v_target_theta + coeff[8] * x31 + coeff[9] * x12 + coeff[10] * x42 + coeff[11] * x11 * x21 * x31 + coeff[12] * x21 * x32 + coeff[13] * x21 * x32 * x41 + coeff[14] * x32 * x42 + coeff[15] * x12 * x41 + coeff[16] * x11 * x31 * x41;
  v_target_theta = v_target_theta + coeff[17] * x32 * x41 + coeff[18] * x12 * x22 + coeff[19] * x12 * x21 * x41;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + coeff[3] * x31 + coeff[7] + 2 * coeff[9] * x11 + coeff[11] * x21 * x31 + 2 * coeff[15] * x11 * x41 + coeff[16] * x31 * x41 + 2 * coeff[18] * x11 * x22 + 2 * coeff[19] * x11 * x21 * x41, 2) + dx2 * dx2 * pow(0 + coeff[1] + coeff[5] * x41 + 2 * coeff[6] * x21 + coeff[11] * x11 * x31 + coeff[12] * x32 + coeff[13] * x32 * x41 + 2 * coeff[18] * x21 * x12 + coeff[19] * x12 * x41, 2) + dx3 * dx3 * pow(0 + coeff[3] * x11 + 2 * coeff[4] * x31 + coeff[8] + coeff[11] * x11 * x21 + 2 * coeff[12] * x31 * x21 + 2 * coeff[13] * x31 * x21 * x41 + 2 * coeff[14] * x31 * x42 + coeff[16] * x11 * x41 + 2 * coeff[17] * x31 * x41, 2) + dx4 * dx4 * pow(0 + coeff[2] + coeff[5] * x21 + 2 * coeff[10] * x41 + coeff[13] * x21 * x32 + 2 * coeff[14] * x41 * x32 + coeff[15] * x12 + coeff[16] * x11 * x31 + coeff[17] * x32 + coeff[19] * x12 * x21, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```