def METHOD_NAME(self, remove_first_pose, compute_poses=True):
    """
    Sets the remove_first_pose property, used to determine whether we want to move the robot to the starting pose
    or not. By default, if neither the starting position nor the starting orientation were explicitly defined, we
    assume that the user wants to continue with the last trajectory without jumping to a new pose.
    :param remove_first_pose: (bool) True if we want to ignore the starting pose.
                                     False if we want the robot to jump to the starting pose from wherever he was.
    :param compute_poses: (bool)[Default: True] Recompute the robot pose list if True.
    :return: (None)
    """
    self._remove_first_pose = remove_first_pose
    if compute_poses:
        self.compute_poses()