def getXYBounds(self, start, bounding_box_width=2):
        start = np.asarray(start)
        lb = start[:2] - bounding_box_width/2
        ub = start[:2] + bounding_box_width/2
        A = np.vstack((-np.eye(2), np.eye(2)))
        b = np.hstack((-lb, ub))
        return A, b
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/irisdriver.py/IRISDriver.getXYBounds/original