[solvers] Use interface_deps throughout (RobotLocomotion#17157)

This allows us to remove all of the third-party solvers from our header linter's list of known defects. Add some useful new macros so that rules are easier to write.
LwinMoeAung · May 12, 2022 · 7442259 · 7442259
1 parent bf5947f
commit 7442259
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Showing 21 changed files with 600 additions and 459 deletions.
diff --git a/examples/acrobot/BUILD.bazel b/examples/acrobot/BUILD.bazel
@@ -265,6 +265,7 @@ drake_cc_binary(
         ":spong_controller",
         ":spong_controller_params",
         "//geometry:drake_visualizer",
+        "//solvers:snopt_solver",
         "//systems/analysis:simulator",
         "@gflags",
     ],
@@ -282,6 +283,7 @@ drake_cc_binary(
         ":acrobot_plant",
         "//common:is_approx_equal_abstol",
         "//geometry:drake_visualizer",
+        "//solvers:snopt_solver",
         "//solvers:solve",
         "//systems/analysis:simulator",
         "//systems/controllers:finite_horizon_linear_quadratic_regulator",

diff --git a/geometry/optimization/BUILD.bazel b/geometry/optimization/BUILD.bazel
@@ -44,7 +44,12 @@ drake_cc_library(
     ],
     deps = [
         "//geometry:scene_graph",
+        "//solvers:choose_best_solver",
+        "//solvers:gurobi_solver",
+        "//solvers:ipopt_solver",
         "//solvers:mathematical_program",
+        "//solvers:mosek_solver",
+        "//solvers:scs_solver",
         "//solvers:solve",
         "@qhull",
     ],
@@ -70,6 +75,7 @@ drake_cc_library(
         ":convex_set",
         "//geometry:scene_graph",
         "//multibody/plant",
+        "//solvers:choose_best_solver",
         "//solvers:ibex_solver",
         "//solvers:ipopt_solver",
         "//solvers:snopt_solver",
@@ -102,6 +108,7 @@ drake_cc_googletest(
     deps = [
         ":convex_set",
         "//common/test_utilities:eigen_matrix_compare",
+        "//solvers:clp_solver",
     ],
 )
 
@@ -111,6 +118,10 @@ drake_cc_googletest(
         ":graph_of_convex_sets",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",
+        "//solvers:clp_solver",
+        "//solvers:gurobi_solver",
+        "//solvers:ipopt_solver",
+        "//solvers:mosek_solver",
     ],
 )
 

diff --git a/multibody/contact_solvers/sap/BUILD.bazel b/multibody/contact_solvers/sap/BUILD.bazel
@@ -202,6 +202,7 @@ drake_cc_googletest(
         "//math:gradient",
         "//solvers:constraint",
         "//solvers:mathematical_program",
+        "//solvers:scs_solver",
         "//solvers:solve",
     ],
 )

diff --git a/multibody/inverse_kinematics/BUILD.bazel b/multibody/inverse_kinematics/BUILD.bazel
@@ -96,6 +96,7 @@ drake_cc_library(
     deps = [
         "//multibody/plant",
         "//solvers:mathematical_program",
+        "//solvers:mathematical_program_result",
         "//solvers:mixed_integer_rotation_constraint",
         "//solvers:rotation_constraint",
     ],
@@ -261,6 +262,7 @@ drake_cc_library(
         "//multibody/parsing",
         "//multibody/plant",
         "//multibody/tree",
+        "//solvers:solve",
         "@gtest//:without_main",
     ],
 )
@@ -326,6 +328,7 @@ drake_cc_googletest(
     ],
     deps = [
         ":global_inverse_kinematics_test_util",
+        "//solvers:gurobi_solver",
     ],
 )
 

diff --git a/multibody/inverse_kinematics/test/global_inverse_kinematics_feasible_posture_test.cc b/multibody/inverse_kinematics/test/global_inverse_kinematics_feasible_posture_test.cc
@@ -1,6 +1,5 @@
 #include "drake/multibody/inverse_kinematics/test/global_inverse_kinematics_test_util.h"
 #include "drake/solvers/gurobi_solver.h"
-#include "drake/solvers/solve.h"
 
 namespace drake {
 namespace multibody {

diff --git a/multibody/optimization/BUILD.bazel b/multibody/optimization/BUILD.bazel
@@ -214,6 +214,7 @@ drake_cc_googletest(
         ":optimization_with_contact_utilities",
         ":static_equilibrium_problem",
         "//common/test_utilities:eigen_matrix_compare",
+        "//solvers:snopt_solver",
         "//solvers:solve",
     ],
 )

diff --git a/multibody/optimization/test/manipulator_equation_constraint_test.cc b/multibody/optimization/test/manipulator_equation_constraint_test.cc
@@ -7,7 +7,6 @@
 #include "drake/math/compute_numerical_gradient.h"
 #include "drake/multibody/optimization/test/optimization_with_contact_utilities.h"
 #include "drake/solvers/mathematical_program.h"
-#include "drake/solvers/snopt_solver.h"
 #include "drake/solvers/solve.h"
 
 namespace drake {

diff --git a/multibody/optimization/test/static_equilibrium_constraint_test.cc b/multibody/optimization/test/static_equilibrium_constraint_test.cc
@@ -7,7 +7,6 @@
 #include "drake/math/compute_numerical_gradient.h"
 #include "drake/multibody/optimization/test/optimization_with_contact_utilities.h"
 #include "drake/solvers/mathematical_program.h"
-#include "drake/solvers/snopt_solver.h"
 #include "drake/solvers/solve.h"
 
 namespace drake {