For animation techniques to make the robot move, you might want to check this out: https://www.mathworks.com/help/matlab/creating_plots/animation-techniques-1.html
For mapping your robot onto some space, what you have is the centroid of the object and it's orientation. Imagine the robot is a box, you have the (x,y) point of it's centroid, as well as which direction the robot is facing. As for the obstacle, I assume you know the orientation of the IR sensor?
The rotation matrix you pasted in the question is good for getting the coordinates of the box around the centroid. To graph an arbitary patch you can do the following:
figure(1)
axis([-10, 10, -10, 10])
h = drawBox(0, 0, 0);
pause(1)
delete(h)
h = drawBox(3, 3, pi/4);
function [handle] = drawBox(x, y, theta)
width = 5;
height = 8;
% Get coordinates of box corners if it was at the origin
x0_coord = [-width / 2, width / 2, width / 2, -width / 2];
y0_coord = [-height / 2, -height / 2, height / 2, height / 2];
% Rotate by theta
rotation = [cos(theta), -sin(theta); sin(theta), cos(theta)];
% Translate to new x,y location
for i = 1:4
to_shift(:,i) = rotation * [x0_coord(i); y0_coord(i)];
end
shifted_coord = [x; y] + to_shift;
% Plot
handle = patch(...
'Vertices', [shifted_coord(1,:); shifted_coord(2,:)]', 'Faces', [1 2 3 4],...
'FaceColor','k','EdgeColor','k','LineWidth',2);
end
