def METHOD_NAME(lm, xEst, PEst, z, LMid):
    delta = lm - xEst[0:2]
    q = (delta.T @ delta)[0, 0]
    z_angle = math.atan2(delta[1, 0], delta[0, 0]) - xEst[2, 0]
    zp = np.array([[math.sqrt(q), pi_2_pi(z_angle)]])
    y = (z - zp).T
    y[1] = pi_2_pi(y[1])
    H = jacob_h(q, delta, xEst, LMid + 1)
    S = H @ PEst @ H.T + Cx[0:2, 0:2]
    return y, S, H