user: 请将这段汇编代码片段转换成等效的C代码：

```asm
<inverseComposePoint>:
  endbr64
  push   %r13
  subss  %xmm0,%xmm7
  movaps %xmm4,%xmm11
  movaps %xmm4,%xmm9
  push   %r12
  mulss  %xmm4,%xmm11
  movaps %xmm6,%xmm8
  movaps %xmm5,%xmm12
  push   %rbp
  mulss  %xmm5,%xmm9
  mov    $0x1,%eax
  mov    %r8,%r13
  push   %rbx
  mulss  %xmm6,%xmm8
  movaps %xmm7,%xmm15
  mov    %rdx,%rbx
  addss  %xmm7,%xmm15
  mulss  %xmm6,%xmm12
  mov    %rdi,%r12
  mov    %rsi,%rbp
  sub    $0xa8,%rsp
  movss  0xd0(%rsp),%xmm0
  movss  %xmm11,0x18(%rsp)
  movss  D17(%rip),%xmm13
  movaps %xmm5,%xmm11
  mulss  %xmm5,%xmm11
  movss  %xmm15,0x20(%rsp)
  movaps %xmm9,%xmm15
  subss  %xmm1,%xmm0
  movaps %xmm3,%xmm1
  movss  %xmm9,0x6c(%rsp)
  xorps  %xmm13,%xmm1
  movss  %xmm5,0x3c(%rsp)
  movaps %xmm1,%xmm14
  movss  %xmm7,0x70(%rsp)
  movss  %xmm0,0x74(%rsp)
  mulss  %xmm6,%xmm14
  movaps %xmm0,%xmm10
  addss  %xmm0,%xmm10
  mulss  %xmm4,%xmm1
  movss  0xd8(%rsp),%xmm0
  movss  %xmm6,0x30(%rsp)
  movss  %xmm4,0x40(%rsp)
  subss  %xmm2,%xmm0
  movaps %xmm4,%xmm2
  movss  %xmm12,0x68(%rsp)
  mulss  %xmm6,%xmm2
  movss  %xmm10,0x5c(%rsp)
  movaps %xmm14,%xmm10
  subss  %xmm14,%xmm15
  movss  %xmm14,0x8(%rsp)
  movss  %xmm0,0x78(%rsp)
  addss  %xmm0,%xmm0
  addss  %xmm9,%xmm10
  movaps %xmm1,%xmm6
  movss  %xmm1,0x10(%rsp)
  addss  %xmm12,%xmm6
  movss  %xmm15,0x94(%rsp)
  movss  %xmm0,0x48(%rsp)
  movaps %xmm3,%xmm0
  movaps %xmm2,%xmm7
  movaps %xmm2,%xmm4
  mulss  %xmm5,%xmm0
  movaps %xmm12,%xmm5
  movss  %xmm2,0xc(%rsp)
  movss  D38(%rip),%xmm2
  subss  %xmm1,%xmm5
  movss  %xmm10,0x7c(%rsp)
  movss  %xmm6,0x84(%rsp)
  movaps %xmm5,%xmm14
  movaps %xmm0,%xmm9
  addss  %xmm0,%xmm7
  subss  %xmm0,%xmm4
  xorps  %xmm13,%xmm9
  movaps %xmm11,%xmm13
  addss  %xmm8,%xmm11
  movss  %xmm9,0x14(%rsp)
  movaps %xmm15,%xmm9
  addss  %xmm5,%xmm14
  movss  %xmm7,0x80(%rsp)
  addss  %xmm15,%xmm9
  movaps %xmm11,%xmm1
  addss  %xmm11,%xmm1
  movss  0x18(%rsp),%xmm11
  subss  %xmm1,%xmm2
  movaps %xmm7,%xmm1
  addss  %xmm7,%xmm1
  movaps %xmm2,%xmm0
  movaps %xmm10,%xmm2
  addss  %xmm10,%xmm2
  unpcklps %xmm9,%xmm1
  movaps %xmm11,%xmm9
  addss  %xmm8,%xmm9
  movaps %xmm8,%xmm10
  movaps %xmm13,%xmm8
  unpcklps %xmm2,%xmm0
  movaps %xmm6,%xmm2
  movlhps %xmm1,%xmm0
  movaps %xmm9,%xmm1
  addss  %xmm6,%xmm2
  addss  %xmm9,%xmm1
  movups %xmm0,(%rcx)
  movss  D38(%rip),%xmm0
  movaps %xmm11,%xmm9
  movss  %xmm4,0x98(%rsp)
  addss  %xmm13,%xmm11
  movaps %xmm3,%xmm13
  mulss  %xmm3,%xmm13
  movss  %xmm3,0x28(%rsp)
  subss  %xmm1,%xmm0
  movaps %xmm4,%xmm1
  movss  %xmm5,0x9c(%rsp)
  addss  %xmm4,%xmm1
  movss  %xmm11,0x2c(%rsp)
  movss  %xmm8,0x34(%rsp)
  unpcklps %xmm2,%xmm0
  movss  %xmm10,0x1c(%rsp)
  unpcklps %xmm14,%xmm1
  movaps %xmm13,%xmm3
  movss  %xmm13,0x24(%rsp)
  movlhps %xmm1,%xmm0
  addss  %xmm9,%xmm3
  movups %xmm0,0x10(%rcx)
  movaps %xmm11,%xmm0
  addss  %xmm11,%xmm0
  movss  D38(%rip),%xmm11
  movss  %xmm3,0x44(%rsp)
  subss  %xmm0,%xmm11
  movss  %xmm11,0x20(%rcx)
  movaps %xmm3,%xmm11
  addss  %xmm8,%xmm11
  movaps %xmm11,%xmm9
  movss  %xmm11,0x38(%rsp)
  addss  %xmm10,%xmm9
  movaps %xmm9,%xmm0
  mulss  %xmm9,%xmm0
  mulss  %xmm9,%xmm0
  cvtss2sd %xmm0,%xmm0
  call   <inverseSqrt@plt>
  movss  0x1c(%rsp),%xmm9
  movss  D54(%rip),%xmm0
  movss  0x30(%rsp),%xmm6
  movss  0x40(%rsp),%xmm4
  pxor   %xmm1,%xmm1
  movaps %xmm9,%xmm3
  movss  0x34(%rsp),%xmm8
  movss  0x3c(%rsp),%xmm5
  cvtsi2ss %eax,%xmm1
  addss  %xmm9,%xmm3
  movaps %xmm4,%xmm12
  movaps %xmm6,%xmm14
  movaps %xmm8,%xmm13
  movaps %xmm5,%xmm11
  addss  %xmm8,%xmm13
  movaps %xmm4,%xmm8
  movss  %xmm3,0x50(%rsp)
  movss  0x28(%rsp),%xmm3
  addss  %xmm4,%xmm8
  mulss  %xmm3,%xmm0
  movss  %xmm13,0x4c(%rsp)
  movss  D17(%rip),%xmm13
  movaps %xmm8,%xmm10
  xorps  %xmm13,%xmm11
  mulss  %xmm6,%xmm10
  movaps %xmm11,%xmm7
  movss  0x2c(%rsp),%xmm11
  addss  %xmm9,%xmm11
  movaps %xmm0,%xmm2
  mulss  %xmm6,%xmm0
  movss  %xmm10,0x58(%rsp)
  movss  0x5c(%rsp),%xmm10
  movss  %xmm11,0x3c(%rsp)
  movaps %xmm5,%xmm11
  mulss  %xmm10,%xmm12
  mulss  %xmm10,%xmm11
  mulss  %xmm10,%xmm14
  movd   %xmm0,%ecx
  movaps %xmm8,%xmm0
  mulss  %xmm5,%xmm0
  movss  %xmm12,0x60(%rsp)
  movaps %xmm5,%xmm12
  movss  %xmm11,0x8c(%rsp)
  addss  %xmm5,%xmm12
  movss  %xmm14,0x88(%rsp)
  movss  %xmm0,0x54(%rsp)
  movaps %xmm2,%xmm0
  movss  %xmm12,0x64(%rsp)
  mulss  %xmm4,%xmm2
  xorps  %xmm13,%xmm0
  mulss  %xmm5,%xmm0
  mulss  0x20(%rsp),%xmm12
  movd   %xmm2,%edx
  movd   %xmm0,%eax
  movss  0x48(%rsp),%xmm0
  mulss  %xmm0,%xmm7
  movaps %xmm0,%xmm9
  mulss  %xmm6,%xmm0
  movaps %xmm9,%xmm15
  mulss  %xmm3,%xmm15
  mulss  %xmm4,%xmm9
  addss  %xmm7,%xmm14
  xorps  %xmm13,%xmm7
  addss  %xmm0,%xmm11
  movss  %xmm15,0x90(%rsp)
  movss  %xmm14,0x5c(%rsp)
  movaps %xmm9,%xmm14
  movss  %xmm11,0x28(%rsp)
  movaps %xmm12,%xmm11
  movss  0x60(%rsp),%xmm12
  subss  %xmm11,%xmm12
  movaps %xmm6,%xmm11
  addss  %xmm6,%xmm11
  subss  %xmm15,%xmm12
  movaps %xmm9,%xmm15
  movss  0x20(%rsp),%xmm9
  mulss  %xmm11,%xmm9
  movss  %xmm12,0x2c(%rsp)
  mulss  %xmm10,%xmm11
  movaps %xmm3,%xmm12
  mulss  %xmm10,%xmm12
  subss  %xmm11,%xmm7
  addss  %xmm12,%xmm15
  movaps %xmm7,%xmm11
  subss  %xmm9,%xmm15
  movss  %xmm15,0x30(%rsp)
  movss  0x24(%rsp),%xmm15
  addss  0x34(%rsp),%xmm15
  addss  0x1c(%rsp),%xmm15
  movss  %xmm15,0x40(%rsp)
  movss  0x6c(%rsp),%xmm9
  movss  0xc(%rsp),%xmm15
  movss  0x64(%rsp),%xmm2
  xorps  %xmm13,%xmm15
  xorps  %xmm13,%xmm9
  movss  %xmm15,0x24(%rsp)
  movss  0x44(%rsp),%xmm15
  mulss  %xmm6,%xmm2
  addss  0x1c(%rsp),%xmm15
  movss  %xmm15,0x44(%rsp)
  movss  0x68(%rsp),%xmm15
  xorps  %xmm13,%xmm15
  movss  %xmm2,0x6c(%rsp)
  movaps %xmm14,%xmm2
  movaps %xmm8,%xmm14
  movss  %xmm15,0xc(%rsp)
  movss  0x18(%rsp),%xmm15
  mulss  %xmm10,%xmm14
  movss  0x88(%rsp),%xmm10
  addss  %xmm15,%xmm15
  movss  %xmm15,0x68(%rsp)
  movss  0x20(%rsp),%xmm15
  mulss  %xmm15,%xmm5
  mulss  %xmm15,%xmm6
  movaps %xmm14,%xmm15
  movaps %xmm5,%xmm14
  subss  0x60(%rsp),%xmm5
  subss  %xmm15,%xmm14
  movss  0x20(%rsp),%xmm15
  subss  %xmm6,%xmm2
  addss  0x90(%rsp),%xmm14
  subss  %xmm12,%xmm6
  mulss  %xmm15,%xmm3
  mulss  %xmm15,%xmm4
  movaps %xmm5,%xmm15
  movss  0x48(%rsp),%xmm5
  mulss  %xmm5,%xmm8
  subss  %xmm3,%xmm11
  addss  %xmm3,%xmm10
  movss  0x4c(%rsp),%xmm3
  addss  %xmm4,%xmm0
  addss  0x50(%rsp),%xmm3
  addss  0x8c(%rsp),%xmm4
  subss  %xmm8,%xmm6
  movd   %ecx,%xmm8
  subss  0x54(%rsp),%xmm8
  movss  %xmm0,0x20(%rsp)
  movss  0x64(%rsp),%xmm0
  mulss  %xmm5,%xmm0
  movaps %xmm6,%xmm12
  movaps %xmm3,%xmm6
  movss  0x10(%rsp),%xmm5
  movd   %eax,%xmm3
  subss  0x58(%rsp),%xmm3
  subss  D38(%rip),%xmm6
  mulss  0x28(%rsp),%xmm5
  movaps %xmm3,%xmm7
  movss  0x5c(%rsp),%xmm3
  mulss  0x3c(%rsp),%xmm3
  subss  %xmm0,%xmm10
  movss  0x2c(%rsp),%xmm0
  mulss  0x14(%rsp),%xmm0
  addss  %xmm3,%xmm5
  movaps %xmm0,%xmm3
  addss  %xmm5,%xmm3
  movss  0x8(%rsp),%xmm5
  mulss  0x30(%rsp),%xmm5
  movss  0x2c(%rsp),%xmm0
  mulss  %xmm9,%xmm0
  addss  %xmm5,%xmm3
  mulss  %xmm1,%xmm3
  unpcklps %xmm3,%xmm7
  movaps %xmm6,%xmm3
  movss  0x28(%rsp),%xmm6
  unpcklps %xmm8,%xmm3
  movss  0x28(%rsp),%xmm8
  mulss  0x40(%rsp),%xmm8
  movlhps %xmm7,%xmm3
  movss  0x5c(%rsp),%xmm7
  movups %xmm3,0x0(%r13)
  movss  0x10(%rsp),%xmm3
  mulss  %xmm9,%xmm6
  mulss  %xmm7,%xmm3
  movaps %xmm8,%xmm5
  movss  0x24(%rsp),%xmm8
  addss  %xmm3,%xmm5
  movaps %xmm0,%xmm3
  movss  0x2c(%rsp),%xmm0
  mulss  0x44(%rsp),%xmm0
  addss  %xmm5,%xmm3
  movss  0x30(%rsp),%xmm5
  mulss  %xmm8,%xmm5
  addss  %xmm5,%xmm3
  movss  0x14(%rsp),%xmm5
  mulss  %xmm7,%xmm5
  mulss  %xmm1,%xmm3
  addss  %xmm5,%xmm6
  movaps %xmm0,%xmm5
  movss  0x2c(%rsp),%xmm0
  mulss  0xc(%rsp),%xmm0
  addss  %xmm6,%xmm5
  movss  0xc(%rsp),%xmm6
  mulss  0x30(%rsp),%xmm6
  addss  %xmm6,%xmm5
  movss  0x8(%rsp),%xmm6
  mulss  %xmm7,%xmm6
  movss  0x28(%rsp),%xmm7
  mulss  %xmm1,%xmm5
  mulss  %xmm8,%xmm7
  movd   %edx,%xmm8
  subss  0x6c(%rsp),%xmm8
  unpcklps %xmm5,%xmm3
  addss  %xmm6,%xmm7
  movaps %xmm0,%xmm6
  movss  0x30(%rsp),%xmm0
  mulss  0x38(%rsp),%xmm0
  addss  %xmm7,%xmm6
  addss  %xmm0,%xmm6
  movd   %ecx,%xmm0
  xorps  %xmm13,%xmm0
  movaps %xmm0,%xmm7
  subss  0x54(%rsp),%xmm7
  movss  0x3c(%rsp),%xmm0
  mulss  %xmm1,%xmm6
  mulss  %xmm2,%xmm0
  unpcklps %xmm7,%xmm6
  movlhps %xmm6,%xmm3
  movss  0x10(%rsp),%xmm6
  movups %xmm3,0x10(%r13)
  movss  0x50(%rsp),%xmm3
  addss  0x68(%rsp),%xmm3
  movaps %xmm6,%xmm5
  mulss  %xmm14,%xmm5
  movaps %xmm3,%xmm7
  movss  0x14(%rsp),%xmm3
  subss  D38(%rip),%xmm7
  mulss  0x20(%rsp),%xmm3
  addss  %xmm0,%xmm5
  addss  %xmm5,%xmm3
  movss  0x8(%rsp),%xmm5
  movss  0x20(%rsp),%xmm0
  mulss  %xmm11,%xmm5
  mulss  %xmm9,%xmm0
  addss  %xmm5,%xmm3
  movaps %xmm6,%xmm5
  movss  0x40(%rsp),%xmm6
  mulss  %xmm2,%xmm5
  mulss  %xmm14,%xmm6
  mulss  %xmm1,%xmm3
  addss  %xmm5,%xmm6
  movaps %xmm0,%xmm5
  movaps %xmm7,%xmm0
  movss  0xc(%rsp),%xmm7
  unpcklps %xmm8,%xmm0
  movaps %xmm9,%xmm8
  mulss  %xmm14,%xmm8
  addss  %xmm6,%xmm5
  movss  0x24(%rsp),%xmm6
  mulss  %xmm11,%xmm6
  addss  %xmm6,%xmm5
  movss  0x20(%rsp),%xmm6
  mulss  %xmm1,%xmm5
  unpcklps %xmm5,%xmm3
  movaps %xmm0,%xmm5
  movlhps %xmm3,%xmm5
  movss  0x14(%rsp),%xmm3
  movups %xmm5,0x20(%r13)
  movaps %xmm8,%xmm5
  movss  0x24(%rsp),%xmm8
  mulss  %xmm2,%xmm3
  mulss  %xmm8,%xmm14
  mulss  0x8(%rsp),%xmm2
  addss  %xmm3,%xmm5
  movss  0x44(%rsp),%xmm3
  mulss  %xmm6,%xmm3
  addss  %xmm2,%xmm14
  movd   %eax,%xmm2
  mulss  %xmm7,%xmm6
  xorps  %xmm13,%xmm2
  addss  %xmm5,%xmm3
  movaps %xmm7,%xmm5
  mulss  %xmm11,%xmm5
  movaps %xmm6,%xmm0
  mulss  0x38(%rsp),%xmm11
  addss  %xmm14,%xmm0
  movss  0x8(%rsp),%xmm14
  addss  %xmm5,%xmm3
  movaps %xmm2,%xmm5
  movd   %edx,%xmm2
  addss  %xmm11,%xmm0
  subss  0x58(%rsp),%xmm5
  xorps  %xmm13,%xmm2
  movss  0x4c(%rsp),%xmm11
  subss  0x6c(%rsp),%xmm2
  addss  0x68(%rsp),%xmm11
  mulss  %xmm1,%xmm3
  mulss  %xmm1,%xmm0
  unpcklps %xmm2,%xmm5
  movaps %xmm11,%xmm6
  movaps %xmm14,%xmm11
  mulss  %xmm4,%xmm11
  subss  D38(%rip),%xmm6
  unpcklps %xmm0,%xmm3
  movss  0x3c(%rsp),%xmm0
  movlhps %xmm5,%xmm3
  movss  0x14(%rsp),%xmm5
  movups %xmm3,0x30(%r13)
  movss  0x10(%rsp),%xmm3
  mulss  %xmm15,%xmm0
  movaps %xmm3,%xmm2
  mulss  %xmm12,%xmm2
  mulss  %xmm15,%xmm3
  addss  %xmm0,%xmm2
  movaps %xmm5,%xmm0
  mulss  %xmm10,%xmm0
  addss  %xmm2,%xmm0
  movaps %xmm3,%xmm2
  addss  %xmm11,%xmm0
  movss  0x40(%rsp),%xmm11
  mulss  %xmm12,%xmm11
  mulss  %xmm1,%xmm0
  movaps %xmm11,%xmm3
  movaps %xmm9,%xmm11
  mulss  %xmm10,%xmm11
  addss  %xmm2,%xmm3
  movaps %xmm0,%xmm7
  movss  0x44(%rsp),%xmm0
  mulss  %xmm10,%xmm0
  movaps %xmm11,%xmm2
  movaps %xmm5,%xmm11
  addss  %xmm3,%xmm2
  mulss  %xmm15,%xmm11
  movaps %xmm8,%xmm3
  mulss  %xmm4,%xmm3
  movaps %xmm0,%xmm5
  movaps %xmm6,%xmm0
  mulss  %xmm12,%xmm8
  unpcklps %xmm7,%xmm0
  addss  %xmm3,%xmm2
  movaps %xmm11,%xmm3
  movaps %xmm9,%xmm11
  movss  0xc(%rsp),%xmm9
  mulss  %xmm12,%xmm11
  movss  0x70(%rsp),%xmm12
  mulss  %xmm1,%xmm2
  addss  %xmm11,%xmm3
  addss  %xmm3,%xmm5
  movaps %xmm9,%xmm3
  mulss  %xmm4,%xmm3
  mulss  %xmm10,%xmm9
  addss  %xmm3,%xmm5
  movss  0x34(%rsp),%xmm3
  mulss  %xmm1,%xmm5
  unpcklps %xmm5,%xmm2
  movlhps %xmm2,%xmm0
  movups %xmm0,0x40(%r13)
  movaps %xmm14,%xmm0
  movss  0x38(%rsp),%xmm14
  mulss  %xmm15,%xmm0
  mulss  %xmm4,%xmm14
  addss  %xmm8,%xmm0
  addss  %xmm9,%xmm0
  movss  0x1c(%rsp),%xmm9
  addss  %xmm14,%xmm0
  mulss  %xmm1,%xmm0
  movss  0x18(%rsp),%xmm1
  xorps  %xmm13,%xmm1
  movss  %xmm0,0x50(%r13)
  movaps %xmm3,%xmm0
  movss  0x94(%rsp),%xmm14
  movss  0x78(%rsp),%xmm4
  movss  0x98(%rsp),%xmm2
  xorps  %xmm13,%xmm0
  movss  0x74(%rsp),%xmm13
  subss  %xmm9,%xmm0
  mulss  %xmm13,%xmm14
  mulss  %xmm4,%xmm2
  mulss  %xmm12,%xmm0
  addss  %xmm14,%xmm0
  addss  %xmm2,%xmm0
  movss  0x7c(%rsp),%xmm2
  mulss  %xmm12,%xmm2
  addss  %xmm0,%xmm0
  addss  %xmm12,%xmm0
  mulss  0x80(%rsp),%xmm12
  movss  %xmm0,(%r12)
  movaps %xmm1,%xmm0
  subss  %xmm3,%xmm1
  subss  %xmm9,%xmm0
  mulss  %xmm4,%xmm1
  mulss  %xmm13,%xmm0
  addss  %xmm2,%xmm0
  movss  0x9c(%rsp),%xmm2
  mulss  %xmm4,%xmm2
  addss  %xmm2,%xmm0
  addss  %xmm0,%xmm0
  addss  %xmm13,%xmm0
  mulss  0x84(%rsp),%xmm13
  movss  %xmm0,0x0(%rbp)
  movaps %xmm12,%xmm0
  addss  %xmm13,%xmm0
  addss  %xmm1,%xmm0
  addss  %xmm0,%xmm0
  addss  %xmm4,%xmm0
  movss  %xmm0,(%rbx)
  add    $0xa8,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
```

tool_calls: name: extract_symbolic_data
arguments: data_tag: D17
datatype: byte[4]
name: extract_symbolic_data
arguments: data_tag: D38
datatype: byte[4]
name: extract_symbolic_data
arguments: data_tag: D54
datatype: byte[4]

tool: {"D17": [0x00,0x00,0x00,0x80]}

tool: {"D38": [0x00,0x00,0x80,0x3f]}

tool: {"D54": [0x00,0x00,0x00,0xc0]}

assistant: ```c
void inverseComposePoint(const float m_coord_x, const float m_coord_y, const float m_coord_z, const float m_quat_r, const float m_quat_x, const float m_quat_y, const float m_quat_z, const float gx, const float gy, const float gz, float lx[1], float ly[1], float lz[1], float out_jacobian_df_dpoint[3][3], float out_jacobian_df_dpose[3][7]) {
  const float qr = m_quat_r;
  const float qx = m_quat_x;
  const float qy = m_quat_y;
  const float qz = m_quat_z;
  const float qx2 = qx * qx;
  const float qy2 = qy * qy;
  const float qz2 = qz * qz;
  const float Ax = 2 * (gx - m_coord_x);
  const float Ay = 2 * (gy - m_coord_y);
  const float Az = 2 * (gz - m_coord_z);
  out_jacobian_df_dpoint[0][0] = 1 - 2 * (qy2 + qz2);
  out_jacobian_df_dpoint[0][1] = 2 * (-qr * qz + qx * qy);
  out_jacobian_df_dpoint[0][2] = 2 * (qx * qz + qr * qy);
  out_jacobian_df_dpoint[1][0] = 2 * (qx * qy + qr * qz);
  out_jacobian_df_dpoint[1][1] = 1 - 2 * (qx2 + qz2);
  out_jacobian_df_dpoint[1][2] = 2 * (-qr * qx + qy * qz);
  out_jacobian_df_dpoint[2][0] = 2 * (-qr * qy + qx * qz);
  out_jacobian_df_dpoint[2][1] = 2 * (qy * qz + qr * qx);
  out_jacobian_df_dpoint[2][2] = 1 - 2 * (qx2 + qy2);
  float normSqr = qr * qr + qx * qx + qy * qy + qz * qz;
  const float n = inverseSqrt(normSqr * normSqr * normSqr);
  out_jacobian_df_dpose[0][0] = 2 * qy2 + 2 * qz2 - 1;
  out_jacobian_df_dpose[0][1] = -2 * qr * qz - 2 * qx * qy;
  out_jacobian_df_dpose[0][2] = 2 * qr * qy - 2 * qx * qz;
  out_jacobian_df_dpose[0][3] = n * ((-qy * Az + qz * Ay) * (qx * qx + qy * qy + qz * qz) + (qy * Ay + qz * Az) * (-qx * qr) + (qx * Ay - 2 * qy * Ax - qr * Az) * (-qy * qr) + (qx * Az + qr * Ay - 2 * qz * Ax) * (-qz * qr));
  out_jacobian_df_dpose[0][4] = n * ((-qy * Az + qz * Ay) * (-qr * qx) + (qy * Ay + qz * Az) * (qr * qr + qy * qy + qz * qz) + (qx * Ay - 2 * qy * Ax - qr * Az) * (-qy * qx) + (qx * Az + qr * Ay - 2 * qz * Ax) * (-qz * qx));
  out_jacobian_df_dpose[0][5] = n * ((-qy * Az + qz * Ay) * (-qr * qy) + (qy * Ay + qz * Az) * (-qx * qy) + (qx * Ay - 2 * qy * Ax - qr * Az) * (qr * qr + qx * qx + qz * qz) + (qx * Az + qr * Ay - 2 * qz * Ax) * (-qz * qy));
  out_jacobian_df_dpose[0][6] = n * ((-qy * Az + qz * Ay) * (-qr * qz) + (qy * Ay + qz * Az) * (-qx * qz) + (qx * Ay - 2 * qy * Ax - qr * Az) * (-qy * qz) + (qx * Az + qr * Ay - 2 * qz * Ax) * (qr * qr + qx * qx + qy * qy));
  out_jacobian_df_dpose[1][0] = 2 * qr * qz - 2 * qx * qy;
  out_jacobian_df_dpose[1][1] = 2 * qx2 + 2 * qz2 - 1;
  out_jacobian_df_dpose[1][2] = -2 * qr * qx - 2 * qy * qz;
  out_jacobian_df_dpose[1][3] = n * ((qx * Az - qz * Ax) * (qx * qx + qy * qy + qz * qz) + (qy * Ax - 2 * qx * Ay + qr * Az) * (-qx * qr) + (qx * Ax + qz * Az) * (-qy * qr) + (qy * Az - 2 * qz * Ay - qr * Ax) * (-qz * qr));
  out_jacobian_df_dpose[1][4] = n * ((qx * Az - qz * Ax) * (-qr * qx) + (qy * Ax - 2 * qx * Ay + qr * Az) * (qr * qr + qy * qy + qz * qz) + (qx * Ax + qz * Az) * (-qy * qx) + (qy * Az - 2 * qz * Ay - qr * Ax) * (-qz * qx));
  out_jacobian_df_dpose[1][5] = n * ((qx * Az - qz * Ax) * (-qr * qy) + (qy * Ax - 2 * qx * Ay + qr * Az) * (-qx * qy) + (qx * Ax + qz * Az) * (qr * qr + qx * qx + qz * qz) + (qy * Az - 2 * qz * Ay - qr * Ax) * (-qz * qy));
  out_jacobian_df_dpose[1][6] = n * ((qx * Az - qz * Ax) * (-qr * qz) + (qy * Ax - 2 * qx * Ay + qr * Az) * (-qx * qz) + (qx * Ax + qz * Az) * (-qy * qz) + (qy * Az - 2 * qz * Ay - qr * Ax) * (qr * qr + qx * qx + qy * qy));
  out_jacobian_df_dpose[2][0] = -2 * qr * qy - 2 * qx * qz;
  out_jacobian_df_dpose[2][1] = 2 * qr * qx - 2 * qy * qz;
  out_jacobian_df_dpose[2][2] = 2 * qx2 + 2 * qy2 - 1;
  out_jacobian_df_dpose[2][3] = n * ((qy * Ax - qx * Ay) * (qx * qx + qy * qy + qz * qz) + (qz * Ax - qr * Ay - 2 * qx * Az) * (-qx * qr) + (qr * Ax + qz * Ay - 2 * qy * Az) * (-qy * qr) + (qx * Ax + qy * Ay) * (-qz * qr));
  out_jacobian_df_dpose[2][4] = n * ((qy * Ax - qx * Ay) * (-qr * qx) + (qz * Ax - qr * Ay - 2 * qx * Az) * (qr * qr + qy * qy + qz * qz) + (qr * Ax + qz * Ay - 2 * qy * Az) * (-qy * qx) + (qx * Ax + qy * Ay) * (-qz * qx));
  out_jacobian_df_dpose[2][5] = n * ((qy * Ax - qx * Ay) * (-qr * qy) + (qz * Ax - qr * Ay - 2 * qx * Az) * (-qx * qy) + (qr * Ax + qz * Ay - 2 * qy * Az) * (qr * qr + qx * qx + qz * qz) + (qx * Ax + qy * Ay) * (-qz * qy));
  out_jacobian_df_dpose[2][6] = n * ((qy * Ax - qx * Ay) * (-qr * qz) + (qz * Ax - qr * Ay - 2 * qx * Az) * (-qx * qz) + (qr * Ax + qz * Ay - 2 * qy * Az) * (-qy * qz) + (qx * Ax + qy * Ay) * (qr * qr + qx * qx + qy * qy));
  const float t2 = -qr * qx;
  const float t3 = -qr * qy;
  const float t4 = -qr * qz;
  const float t5 = -qx * qx;
  const float t6 = qx * qy;
  const float t7 = qx * qz;
  const float t8 = -qy * qy;
  const float t9 = qy * qz;
  const float t10 = -qz * qz;
  *lx = 2 * ((t8 + t10) * (gx - m_coord_x) + (t6 - t4) * (gy - m_coord_y) + (t3 + t7) * (gz - m_coord_z)) + (gx - m_coord_x);
  *ly = 2 * ((t4 + t6) * (gx - m_coord_x) + (t5 + t10) * (gy - m_coord_y) + (t9 - t2) * (gz - m_coord_z)) + (gy - m_coord_y);
  *lz = 2 * ((t7 - t3) * (gx - m_coord_x) + (t2 + t9) * (gy - m_coord_y) + (t5 + t8) * (gz - m_coord_z)) + (gz - m_coord_z);
}
```