function f = draw_obstacle(obstacle, line_specs, P)

frame = vehicle_frame(obstacle.state, P);

l = obstacle.length;
w = obstacle.width;
points_road = frame*[-l/2 l/2 l/2 -l/2 -l/2;
                    -w/2 -w/2 +w/2 +w/2 -w/2;
                    1 1 1 1 1];

plot(points_road(1,:), points_road(2,:), line_specs);

% text(mean(points_road(1,:)), mean(points_road(2,:)), num2str(state.id));
