def METHOD_NAME():
    model = CombinedReversibleGaussianMeasurementModel([
        CartesianToBearingRange(3, [0, 1], np.diag([1, 10])),
        LinearGaussian(3, [2], np.array([[20]])),
    ])
    state = State(StateVector([[0], [10], [20]]))
    meas_vector = model.function(state)
    assert isinstance(meas_vector[0, 0], Bearing)
    assert not isinstance(meas_vector[1, 0], Bearing)
    assert not isinstance(meas_vector[2, 0], Bearing)
    assert isinstance(meas_vector, StateVector)
    assert np.array_equal(meas_vector, np.array([[np.pi/2], [10], [20]]))
    assert model.inverse_function(State(meas_vector)) == approx(state.state_vector)
    assert model.covar() == approx(np.diag([1, 10, 20]))