function [ rssOutput ] = objFunctions(params,X) 
    a = params(1); % parameter 1
    b = params(2); % parameter 2
    c = params(3);
    x_0 = params(4);
    y_0 = params(5);
    h_0 = params(6);
    alpha = params(7);
    A = [0,-c,b;c,0,-a;-b,a,0];
    rssOutput = zeros(length(X)+1,1);
    for i = 1:length(X)
        x = X(i,1);
        y = X(i,2);
        h = X(i,3);
        B = A*[x-x_0,y-y_0,h-h_0]';
        output = abs(tan(alpha)*(a*(x-x_0)+b*(y-y_0)+c*(h-h_0)))-norm(B);
        rssOutput(i) = output;
    end
    rssOutput(end) = a^2+b^2+c^2-1;
end