16 bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()/2.f,
size_.getY()/2.f,0)));
17 bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()/2.f,
size_.getY()/-2.f,0)));
18 bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()/-2.f,
size_.getY()/-2.f,0)));
19 bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()/-2.f,
size_.getY()/2.f,0)));