def METHOD_NAME(self, x: float, y: float, theta: float, footprint: Polygon):
    """
    Get the cost of a footprint at a specific Pose in map coordinates.
    Args
    ----
        x (float): map coordinate X
        y (float): map coordinate Y
        theta (float): absolute rotation angle of the footprint
        footprint (Polygon): the footprint to calculate its cost at the given Pose
    Returns
    -------
        LETHAL_OBSTACLE (int): If collision was found, 254 will be returned
        footprint_cost (float): The maximum cost found in the footprint points
    """
    cos_th = cos(theta)
    sin_th = sin(theta)
    oriented_footprint = Polygon()
    for i in range(len(footprint.points)):
        new_pt = Point32()
        new_pt.x = x + \
            (footprint.points[i].x * cos_th -
             footprint.points[i].y * sin_th)
        new_pt.y = y + \
            (footprint.points[i].x * sin_th +
             footprint.points[i].y * cos_th)
        oriented_footprint.points.append(new_pt)
    return self.footprintCost(oriented_footprint)