rmv mapBound only

include/core/mission_parameters.hpp

@@ -30,7 +30,6 @@ class MissionParameters {
 
     Polygon getFlightBoundary();
     Polygon getAirdropBoundary();
-    Polygon getMappingBoundary();
     Polyline getWaypoints();
     // CHANGE: Return type is now std::vector<Airdrop>
     std::vector<Airdrop> getAirdrops();
@@ -40,7 +39,7 @@ class MissionParameters {
     // Important to use this instead of the singular getters
     // to avoid race conditions
     // CHANGE: Tuple element type is now std::vector<Airdrop>
-    std::tuple<Polygon, Polygon, Polygon, Polyline, std::vector<Airdrop>> getConfig();
+    std::tuple<Polygon, Polygon, Polyline, std::vector<Airdrop>> getConfig();
 
     // returns error string to be displayed back to the user
     // Ensure CartesianConverter<GPSProtoVec> template parameter matches usage
@@ -55,7 +54,6 @@ class MissionParameters {
 
     Polygon flightBoundary;
     Polygon airdropBoundary;
-    Polygon mappingBoundary;
     Polyline waypoints;
     // CHANGE: Member variable type is now std::vector<Airdrop>
     std::vector<Airdrop> airdrops;

src/core/mission_parameters.cpp

@@ -43,11 +43,6 @@ Polygon MissionParameters::getAirdropBoundary() {
     return this->airdropBoundary;
 }
 
-Polygon MissionParameters::getMappingBoundary() {
-    ReadLock lock(this->mut);
-    return this->mappingBoundary;
-}
-
 Polyline MissionParameters::getWaypoints() {
     ReadLock lock(this->mut);
     return this->waypoints;
@@ -58,11 +53,11 @@ std::vector<Airdrop> MissionParameters::getAirdrops() {
     return this->airdrops;
 }
 
-std::tuple<Polygon, Polygon, Polygon, Polyline, std::vector<Airdrop>>
+std::tuple<Polygon, Polygon, Polyline, std::vector<Airdrop>>
 MissionParameters::getConfig() {
     ReadLock lock(this->mut);
 
-    return std::make_tuple(this->flightBoundary, this->airdropBoundary, this->mappingBoundary,
+    return std::make_tuple(this->flightBoundary, this->airdropBoundary,
                            this->waypoints, this->airdrops);
 }
 
@@ -95,18 +90,13 @@ std::optional<std::string> MissionParameters::setMission(
         err += "Airdrop boundary must have at least 3 coordinates.";
     }
 
-    if (mission.mappingboundary().size() < 3) {
-        err += "Mapping boundary must have at least 3 coordinates.";
-    }
-
     if (!err.empty()) {
         return err;
     }
 
     this->cached_mission = mission;
     this->flightBoundary = cconverter.toXYZ(mission.flightboundary());
     this->airdropBoundary = cconverter.toXYZ(mission.airdropboundary());
-    this->mappingBoundary = cconverter.toXYZ(mission.mappingboundary());
     this->waypoints = cconverter.toXYZ(mission.waypoints());
     for (const auto& airdrop : mission.airdropassignments()) {  // Use const& for efficiency
         this->_setAirdrop(airdrop);

src/pathing/static.cpp

@@ -615,7 +615,7 @@ MissionPath generateInitialPath(std::shared_ptr<MissionState> state) {
 
     // update goals here
     if (state->config.pathing.rrt.generate_deviations) {
-        Environment mapping_bounds(state->mission_params.getMappingBoundary(), {}, {}, goals, {});
+        Environment mapping_bounds(state->mission_params.getAirdropBoundary(), {}, {}, goals, {});
         goals = generateRankedNewGoalsList(goals, mapping_bounds)[0];
     }