code: public Geometry makeFootprint(double x, double y, double theta) {
  		AffineTransformation at = new AffineTransformation();
  		at.rotate(theta);
  		at.translate(x,y);
  		Geometry rect = at.transform(footprint);
  		return rect;
  	}
docs: Returns a {@link Geometry} representing the footprint of the robot in a given pose.
  @param x The x coordinate of the pose used to create the footprint.
  @param y The y coordinate of the pose used to create the footprint.
  @param theta The orientation of the pose used to create the footprint.
  @return A {@link Geometry} representing the footprint of the robot in a given pose.