def METHOD_NAME(x, y, theta, x_traj, y_traj, color):
    # Corners of triangular vehicle when pointing to the right (0 radians)
    p1_i = np.array([0.5, 0, 1]).T
    p2_i = np.array([-0.5, 0.25, 1]).T
    p3_i = np.array([-0.5, -0.25, 1]).T
    T = transformation_matrix(x, y, theta)
    p1 = T @ p1_i
    p2 = T @ p2_i
    p3 = T @ p3_i
    plt.plot([p1[0], p2[0]], [p1[1], p2[1]], color+'-')
    plt.plot([p2[0], p3[0]], [p2[1], p3[1]], color+'-')
    plt.plot([p3[0], p1[0]], [p3[1], p1[1]], color+'-')
    plt.plot(x_traj, y_traj, color+'--')