function [Xrot, Yrot] = plot_rectangle_with_rotation(rect_position, rect_rotation, axes_to_plot, color, BOX_ID)

    % rect_posittion is the Position cordinates of the "rectangular" object

    % of Matlab

    % rect_rotation (in degree) is the necessary rotation of the object

    % axes_to_plot - figure axes

    % color may be expressed as a string like '-r', '-m'

    X_cordinates    = [ nan nan nan nan nan];

    Y_cordinates    = [ nan nan nan nan nan];

    X_cordinates(1) = rect_position(1);

    Y_cordinates(1) = rect_position(2);

    X_cordinates(2) = rect_position(1);

    Y_cordinates(2) = rect_position(2) + rect_position(4);

    X_cordinates(3) = rect_position(1) + rect_position(3);

    Y_cordinates(3) = rect_position(2) + rect_position(4);

    X_cordinates(4) = rect_position(1) + rect_position(3);

    Y_cordinates(4) = rect_position(2);

    X_cordinates(5) = X_cordinates(1);

    Y_cordinates(5) = Y_cordinates(1);

    X_centre        = mean([X_cordinates(1) X_cordinates(3)]);

    Y_centre        = mean([Y_cordinates(1) Y_cordinates(2)]); 

    % Perform rotation

    theta   = rect_rotation * pi/180; % The rotation angle

    cth     = cos(theta) ; 

    sth     = sin(theta);

    Xrot    =  (X_cordinates - X_centre)*cth + (Y_cordinates - Y_centre)*sth + X_centre;

    Yrot    = -(X_cordinates - X_centre)*sth + (Y_cordinates - Y_centre)*cth + Y_centre;

    plot(   Xrot, Yrot, color, 'LineWidth', 3, 'Parent', axes_to_plot);

end