Remove start pose from isar mission

equinor · Feb 6, 2025 · 085ef9f · 085ef9f
1 parent 9fb8a11
commit 085ef9f
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Showing 2 changed files with 1 addition and 13 deletions.
diff --git a/backend/api/Services/IsarService.cs b/backend/api/Services/IsarService.cs
@@ -45,8 +45,7 @@ public async Task<IsarMission> StartMission(Robot robot, MissionRun missionRun)
             {
                 mission_definition = new IsarMissionDefinition(
                     missionRun,
-                    mapName: mapName,
-                    includeStartPose: true
+                    mapName: mapName
                 ),
             };
 

diff --git a/backend/api/Services/Models/IsarMissionDefinition.cs b/backend/api/Services/Models/IsarMissionDefinition.cs
@@ -17,9 +17,6 @@ public struct IsarMissionDefinition
         [JsonPropertyName("tasks")]
         public List<IsarTaskDefinition> Tasks { get; set; }
 
-        [JsonPropertyName("start_pose")]
-        public IsarPose? StartPose { get; set; } = null;
-
         public IsarMissionDefinition(List<IsarTaskDefinition> tasks)
         {
             Name = null;
@@ -28,21 +25,13 @@ public IsarMissionDefinition(List<IsarTaskDefinition> tasks)
 
         public IsarMissionDefinition(
             MissionRun missionRun,
-            bool includeStartPose = false,
             string? mapName = null
         )
         {
             Name = missionRun.Name;
             Tasks = missionRun
                 .Tasks.Select(task => new IsarTaskDefinition(task, missionRun, mapName))
                 .ToList();
-            if (missionRun.InspectionArea != null)
-            {
-                StartPose =
-                    includeStartPose && missionRun.InspectionArea.DefaultLocalizationPose != null
-                        ? new IsarPose(missionRun.InspectionArea.DefaultLocalizationPose.Pose)
-                        : null;
-            }
         }
     }