 points are returned in 2D. These points are rotated within the plane if an angle <code>theta</code> is given. If <code>rect_pos</code> is given as a 3 element vector, the Cartesian rectangle points are returned in 3D assuming the rectangle lies in the x-y plane. The orientation of the 3D points can be adjusted by giving <code>theta</code> as a 3 element vector specifying the yaw, pitch, and roll of the rectangle. The 2D plot that is displayed after calling <code>makeCartRect([1, 1], 2, 3, 20, 200, true);</