ugv_shape.m

function [] = ugv_shape(Length,Wide,x_coordinate,y_coordinate,angle_orientation,color,linewidth)
    theta = angle_orientation*pi/180;
    center1 = x_coordinate;
    center2 = y_coordinate;
    R= ([cos(theta), -sin(theta); sin(theta), cos(theta)]);
    X=([-Length/2, Length/2, Length/2, -Length/2]);
    Y=([-Wide/2, -Wide/2, Wide/2, Wide/2]);
    for i=1:4
        T(:,i)=R*[X(i); Y(i)];
    end
    x_lower_left=center1+T(1,1);
    x_lower_right=center1+T(1,2);
    x_upper_right=center1+T(1,3);
    x_upper_left=center1+T(1,4);
    y_lower_left=center2+T(2,1);
    y_lower_right=center2+T(2,2);
    y_upper_right=center2+T(2,3);
    y_upper_left=center2+T(2,4);
    x_coor=[x_lower_left x_lower_right x_upper_right x_upper_left];
    y_coor=[y_lower_left y_lower_right y_upper_right y_upper_left];
    patch('Vertices',[x_coor; y_coor]','Faces',[1 2 3 4],'Edgecolor',color,'Facecolor','none','Linewidth',linewidth);
%     axis equal;
end