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The laser scan message effectively stores a type of 2D point cloud in a compressed way. If your algorithm is working with this type of message directly then I don't think there is an easy way of adjusting it's position and not changing the algorithm.
You have two options that I can see:
1, Change the algorithm to use a point cloud message type and translate the points into the original frame the sensor was in.
2, Change the algorithm so that the segments it detects obstacles in can be shifted based upon a translation from the TF system.
I would think option 1 would be the easiest to implement, there are already nodes to convert laser scan messages into point clouds. So you would only have to modify the input stage of your algorithm.
Hope this makes sense.
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