function [h, H_x] = measurementFunction(x, m)
% [h, H_x] = measurementFunction(x, m) returns the predicted measurement
% given a state x and a single map entry m. H_x denotes the Jacobian of the
% measurement function with respect to the state evaluated at the state
% provided.
% Map entry and state are defined according to "Introduction to Autonomous Mobile Robots" pp. 337


[h(1), h(2), isRNegated] = normalizeLineParameters(h(1), h(2));

if isRNegated 
    H_x(2, :) = - H_x(2, :);
end