	.file	"247135.c"
	.intel_syntax noprefix
	.text
	.globl	quaternion_to_rpy
	.type	quaternion_to_rpy, @function
quaternion_to_rpy:
.LFB0:
	.cfi_startproc
	endbr64
	push	rbp
	.cfi_def_cfa_offset 16
	.cfi_offset 6, -16
	mov	rbp, rsp
	.cfi_def_cfa_register 6
	sub	rsp, 64
	mov	QWORD PTR -56[rbp], rdi
	mov	QWORD PTR -64[rbp], rsi
	mov	rax, QWORD PTR -64[rbp]
	movss	xmm0, DWORD PTR [rax]
	movss	DWORD PTR -36[rbp], xmm0
	mov	rax, QWORD PTR -64[rbp]
	movss	xmm0, DWORD PTR 4[rax]
	movss	DWORD PTR -32[rbp], xmm0
	mov	rax, QWORD PTR -64[rbp]
	movss	xmm0, DWORD PTR 8[rax]
	movss	DWORD PTR -28[rbp], xmm0
	mov	rax, QWORD PTR -64[rbp]
	movss	xmm0, DWORD PTR 12[rax]
	movss	DWORD PTR -24[rbp], xmm0
	movss	xmm0, DWORD PTR -36[rbp]
	movaps	xmm1, xmm0
	mulss	xmm1, DWORD PTR -32[rbp]
	movss	xmm0, DWORD PTR -28[rbp]
	mulss	xmm0, DWORD PTR -24[rbp]
	addss	xmm0, xmm1
	addss	xmm0, xmm0
	movss	DWORD PTR -20[rbp], xmm0
	movss	xmm0, DWORD PTR -32[rbp]
	movaps	xmm1, xmm0
	mulss	xmm1, xmm0
	movss	xmm0, DWORD PTR -28[rbp]
	mulss	xmm0, xmm0
	addss	xmm0, xmm1
	cvtss2sd	xmm0, xmm0
	movapd	xmm1, xmm0
	addsd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC0[rip]
	subsd	xmm0, xmm1
	cvtsd2ss	xmm0, xmm0
	movss	DWORD PTR -16[rbp], xmm0
	pxor	xmm0, xmm0
	cvtss2sd	xmm0, DWORD PTR -16[rbp]
	pxor	xmm2, xmm2
	cvtss2sd	xmm2, DWORD PTR -20[rbp]
	movq	rax, xmm2
	movapd	xmm1, xmm0
	movq	xmm0, rax
	call	atan2@PLT
	cvtsd2ss	xmm0, xmm0
	mov	rax, QWORD PTR -56[rbp]
	movss	DWORD PTR [rax], xmm0
	movss	xmm0, DWORD PTR -36[rbp]
	mulss	xmm0, DWORD PTR -28[rbp]
	movss	xmm1, DWORD PTR -24[rbp]
	mulss	xmm1, DWORD PTR -32[rbp]
	subss	xmm0, xmm1
	addss	xmm0, xmm0
	movss	DWORD PTR -12[rbp], xmm0
	movss	xmm0, DWORD PTR -12[rbp]
	movss	xmm1, DWORD PTR .LC1[rip]
	comiss	xmm0, xmm1
	jbe	.L10
	movss	xmm0, DWORD PTR .LC1[rip]
	jmp	.L4
.L10:
	movss	xmm0, DWORD PTR -12[rbp]
.L4:
	movss	DWORD PTR -12[rbp], xmm0
	movss	xmm0, DWORD PTR .LC2[rip]
	comiss	xmm0, DWORD PTR -12[rbp]
	jbe	.L11
	movss	xmm0, DWORD PTR .LC2[rip]
	jmp	.L7
.L11:
	movss	xmm0, DWORD PTR -12[rbp]
.L7:
	movss	DWORD PTR -12[rbp], xmm0
	pxor	xmm3, xmm3
	cvtss2sd	xmm3, DWORD PTR -12[rbp]
	movq	rax, xmm3
	movq	xmm0, rax
	call	asin@PLT
	mov	rax, QWORD PTR -56[rbp]
	add	rax, 4
	cvtsd2ss	xmm0, xmm0
	movss	DWORD PTR [rax], xmm0
	movss	xmm0, DWORD PTR -36[rbp]
	movaps	xmm1, xmm0
	mulss	xmm1, DWORD PTR -24[rbp]
	movss	xmm0, DWORD PTR -32[rbp]
	mulss	xmm0, DWORD PTR -28[rbp]
	addss	xmm0, xmm1
	addss	xmm0, xmm0
	movss	DWORD PTR -8[rbp], xmm0
	movss	xmm0, DWORD PTR -28[rbp]
	movaps	xmm1, xmm0
	mulss	xmm1, xmm0
	movss	xmm0, DWORD PTR -24[rbp]
	mulss	xmm0, xmm0
	addss	xmm0, xmm1
	cvtss2sd	xmm0, xmm0
	movapd	xmm1, xmm0
	addsd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC0[rip]
	subsd	xmm0, xmm1
	cvtsd2ss	xmm0, xmm0
	movss	DWORD PTR -4[rbp], xmm0
	pxor	xmm0, xmm0
	cvtss2sd	xmm0, DWORD PTR -4[rbp]
	pxor	xmm4, xmm4
	cvtss2sd	xmm4, DWORD PTR -8[rbp]
	movq	rax, xmm4
	movapd	xmm1, xmm0
	movq	xmm0, rax
	call	atan2@PLT
	mov	rax, QWORD PTR -56[rbp]
	add	rax, 8
	cvtsd2ss	xmm0, xmm0
	movss	DWORD PTR [rax], xmm0
	nop
	leave
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE0:
	.size	quaternion_to_rpy, .-quaternion_to_rpy
	.section	.rodata
	.align 8
.LC0:
	.long	0
	.long	1072693248
	.align 4
.LC1:
	.long	1065353216
	.align 4
.LC2:
	.long	-1082130432
	.ident	"GCC: (Ubuntu 10.5.0-1ubuntu1~20.04) 10.5.0"
	.section	.note.GNU-stack,"",@progbits
	.section	.note.gnu.property,"a"
	.align 8
	.long	 1f - 0f
	.long	 4f - 1f
	.long	 5
0:
	.string	 "GNU"
1:
	.align 8
	.long	 0xc0000002
	.long	 3f - 2f
2:
	.long	 0x3
3:
	.align 8
4:

	.arch armv5t
	.eabi_attribute 20, 1
	.eabi_attribute 21, 1
	.eabi_attribute 23, 3
	.eabi_attribute 24, 1
	.eabi_attribute 25, 1
	.eabi_attribute 26, 2
	.eabi_attribute 30, 6
	.eabi_attribute 34, 0
	.eabi_attribute 18, 4
	.file	"247135.c"
	.text
	.global	__aeabi_fmul
	.global	__aeabi_fadd
	.global	__aeabi_f2d
	.global	__aeabi_dadd
	.global	__aeabi_dsub
	.global	__aeabi_d2f
	.global	__aeabi_fsub
	.global	__aeabi_fcmpgt
	.global	__aeabi_fcmplt
	.align	2
	.global	quaternion_to_rpy
	.syntax unified
	.arm
	.fpu softvfp
	.type	quaternion_to_rpy, %function
quaternion_to_rpy:
	@ args = 0, pretend = 0, frame = 48
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{r4, r5, fp, lr}
	add	fp, sp, #12
	sub	sp, sp, #48
	str	r0, [fp, #-56]
	str	r1, [fp, #-60]
	ldr	r3, [fp, #-60]
	ldr	r3, [r3]	@ float
	str	r3, [fp, #-48]	@ float
	ldr	r3, [fp, #-60]
	ldr	r3, [r3, #4]	@ float
	str	r3, [fp, #-44]	@ float
	ldr	r3, [fp, #-60]
	ldr	r3, [r3, #8]	@ float
	str	r3, [fp, #-40]	@ float
	ldr	r3, [fp, #-60]
	ldr	r3, [r3, #12]	@ float
	str	r3, [fp, #-36]	@ float
	ldr	r1, [fp, #-44]	@ float
	ldr	r0, [fp, #-48]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r4, r3
	ldr	r1, [fp, #-36]	@ float
	ldr	r0, [fp, #-40]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r1, r3
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	str	r3, [fp, #-32]	@ float
	ldr	r1, [fp, #-44]	@ float
	ldr	r0, [fp, #-44]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r4, r3
	ldr	r1, [fp, #-40]	@ float
	ldr	r0, [fp, #-40]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	bl	__aeabi_dadd
	mov	r2, r0
	mov	r3, r1
	mov	r0, #0
	ldr	r1, .L12
	bl	__aeabi_dsub
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r3, r0
	str	r3, [fp, #-28]	@ float
	ldr	r0, [fp, #-32]	@ float
	bl	__aeabi_f2d
	mov	r4, r0
	mov	r5, r1
	ldr	r0, [fp, #-28]	@ float
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	mov	r0, r4
	mov	r1, r5
	bl	atan2
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r2, r0
	ldr	r3, [fp, #-56]
	str	r2, [r3]	@ float
	ldr	r1, [fp, #-40]	@ float
	ldr	r0, [fp, #-48]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r4, r3
	ldr	r1, [fp, #-44]	@ float
	ldr	r0, [fp, #-36]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fsub
	mov	r3, r0
	mov	r1, r3
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	str	r3, [fp, #-24]	@ float
	mov	r1, #1065353216
	ldr	r0, [fp, #-24]	@ float
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L10
	mov	r3, #1065353216
	b	.L4
.L10:
	ldr	r3, [fp, #-24]	@ float
.L4:
	str	r3, [fp, #-24]	@ float
	ldr	r1, .L12+4
	ldr	r0, [fp, #-24]	@ float
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L11
	ldr	r3, .L12+4
	b	.L7
.L11:
	ldr	r3, [fp, #-24]	@ float
.L7:
	str	r3, [fp, #-24]	@ float
	ldr	r0, [fp, #-24]	@ float
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	asin
	mov	r2, r0
	mov	r3, r1
	ldr	r1, [fp, #-56]
	add	r4, r1, #4
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r3, r0
	str	r3, [r4]	@ float
	ldr	r1, [fp, #-36]	@ float
	ldr	r0, [fp, #-48]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r4, r3
	ldr	r1, [fp, #-40]	@ float
	ldr	r0, [fp, #-44]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r1, r3
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	str	r3, [fp, #-20]	@ float
	ldr	r1, [fp, #-40]	@ float
	ldr	r0, [fp, #-40]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r4, r3
	ldr	r1, [fp, #-36]	@ float
	ldr	r0, [fp, #-36]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	bl	__aeabi_dadd
	mov	r2, r0
	mov	r3, r1
	mov	r0, #0
	ldr	r1, .L12
	bl	__aeabi_dsub
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r3, r0
	str	r3, [fp, #-16]	@ float
	ldr	r0, [fp, #-20]	@ float
	bl	__aeabi_f2d
	mov	r4, r0
	mov	r5, r1
	ldr	r0, [fp, #-16]	@ float
	bl	__aeabi_f2d
	mov	r2, r0
	mov	r3, r1
	mov	r0, r4
	mov	r1, r5
	bl	atan2
	mov	r2, r0
	mov	r3, r1
	ldr	r1, [fp, #-56]
	add	r4, r1, #8
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r3, r0
	str	r3, [r4]	@ float
	nop
	sub	sp, fp, #12
	@ sp needed
	pop	{r4, r5, fp, pc}
.L13:
	.align	2
.L12:
	.word	1072693248
	.word	-1082130432
	.size	quaternion_to_rpy, .-quaternion_to_rpy
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",%progbits
