Remove various deprecated code (RobotLocomotion#10051)

bindings/pydrake/lcm_py.cc

@@ -67,7 +67,7 @@ PYBIND11_MODULE(lcm, m) {
              },
              py::arg("channel"), py::arg("handler"),
              doc.DrakeMockLcm.Subscribe.  // BR
-             doc_2args_conststdstring_drakelcmDrakeLcmInterfaceHandlerFunction)
+             doc)
         .def("InduceSubscriberCallback",
              [](Class* self, const std::string& channel, py::bytes buffer) {
                std::string str = buffer;

bindings/pydrake/systems/framework_py_semantics.cc

@@ -272,20 +272,6 @@ void DefineFrameworkPySemantics(py::module m) {
         .def("get_index", &InputPort<T>::get_index,
              doc.InputPortBase.get_index.doc);
 
-    // TODO(eric.cousineau): Make these deprecated module attributes so that
-    // they present deprecation messages.
-    // N.B. While this is called over again for each `T`, it is idempotent
-    // (no averse side-effects).
-    m.attr("InputPortDescriptor") = m.attr("InputPort");
-    m.attr("InputPortDescriptor_") = m.attr("InputPort_");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    // Use deprecated alias directly here, so that it's easy to know when to
-    // remove it from the Python code.
-    static_assert(std::is_same<InputPortDescriptor<T>, InputPort<T>>::value,
-                  "Remove Python aliases once this causes a compilation error");
-#pragma GCC diagnostic pop  // pop -Wdeprecated-declarations
-
     // Parameters.
     auto parameters = DefineTemplateClassWithDefault<Parameters<T>>(
         m, "Parameters", GetPyParam<T>(), doc.Parameters.doc);

bindings/pydrake/systems/framework_py_systems.cc

@@ -301,16 +301,7 @@ struct Impl {
         .def("AllocateOutput",
              overload_cast_explicit<unique_ptr<SystemOutput<T>>>(
                  &System<T>::AllocateOutput),
-             doc.System.AllocateOutput.doc_0args)
-        // TODO(sherm1) Deprecate this next signature (context unused).
-        .def("AllocateOutput",
-             [](const System<T>* self, const Context<T>&) {
-               WarnDeprecated(
-                   "`System.AllocateOutput(self, Context)` is deprecated. "
-                   "Please use `System.AllocateOutput(self)` instead.");
-               return self->AllocateOutput();
-             },
-             py::arg("context"), doc.System.AllocateOutput.doc_1args)
+             doc.System.AllocateOutput.doc)
         .def("EvalVectorInput",
              [](const System<T>* self, const Context<T>& arg1, int arg2) {
                return self->EvalVectorInput(arg1, arg2);

bindings/pydrake/systems/test/general_test.py

@@ -93,11 +93,6 @@ def test_system_base_api(self):
         self.assertEqual(system.get_num_output_ports(), 1)
         self.assertEqual(system.GetInputPort("u1").get_index(), 1)
         self.assertEqual(system.GetOutputPort("sum").get_index(), 0)
-        # Test deprecated methods.
-        context = system.CreateDefaultContext()
-        with warnings.catch_warnings(record=True) as w:
-            c = system.AllocateOutput(context)
-            self.assertEqual(len(w), 1)
         # TODO(eric.cousineau): Consolidate the main API tests for `System`
         # to this test point.
 
@@ -166,10 +161,6 @@ def test_instantiations(self):
         self._check_instantiations(BasicVector_)
         self._check_instantiations(Supervector_)
         self._check_instantiations(Subvector_)
-        # Deprecated aliases.
-        # TODO(eric.cousineau): Make this raise a deprecation warning.
-        self._check_instantiations(mut.InputPortDescriptor_)
-        self.assertEqual(mut.InputPortDescriptor, mut.InputPort)
 
     def test_scalar_type_conversion(self):
         for T in [float, AutoDiffXd, Expression]:

common/BUILD.bazel

@@ -37,7 +37,6 @@ drake_cc_package_library(
         ":is_cloneable",
         ":is_less_than_comparable",
         ":nice_type_name",
-        ":number_traits",
         ":pointer_cast",
         ":polynomial",
         ":reset_after_move",
@@ -96,7 +95,6 @@ drake_cc_library(
     name = "drake_bool",
     hdrs = [
         "drake_bool.h",
-        "drake_bool_deprecated.h",
     ],
     deps = [
         ":autodiff",
@@ -110,11 +108,6 @@ drake_cc_library(
     hdrs = ["dummy_value.h"],
 )
 
-drake_cc_library(
-    name = "number_traits",
-    hdrs = ["number_traits.h"],
-)
-
 # Drake's specific ScalarType-providing libraries.
 drake_cc_library(
     name = "double",
@@ -220,7 +213,6 @@ drake_cc_library(
         ":essential",
         ":extract_double",
         ":hash",
-        ":number_traits",
         ":polynomial",
         "//math:matrix_util",
     ],
@@ -567,19 +559,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "drake_bool_deprecated_test",
-    copts = [
-        # This test for deprecated functions; so we don't want this warning.
-        "-Wno-deprecated-declarations",
-    ],
-    deps = [
-        ":drake_bool",
-        ":symbolic",
-        "//common/test_utilities:symbolic_test_util",
-    ],
-)
-
 drake_cc_googletest(
     name = "reset_after_move_test",
     deps = [

common/drake_bool.h

@@ -94,9 +94,3 @@ boolean<typename Derived::Scalar> none_of(
   return none(m.unaryExpr(pred));
 }
 }  // namespace drake
-
-// Include our older functions for backwards compatibility.
-// TODO(jwnimmer-tri) Delete drake_bool_deprecated.h on or about 2018-12-01.
-#define DRAKE_BOOL_DEPRECATED_OK_TO_INCLUDE 1
-#include "drake/common/drake_bool_deprecated.h"
-#undef DRAKE_BOOL_DEPRECATED_OK_TO_INCLUDE