Remove deprecated methods (2019-05) (RobotLocomotion#11358)

attic/manipulation/planner/robot_plan_interpolator.cc

@@ -181,12 +181,7 @@ void RobotPlanInterpolator::DoCalcUnrestrictedUpdate(
   if (encoded_msg != plan.encoded_msg) {
     plan.encoded_msg.swap(encoded_msg);
     if (plan_input.num_states == 0) {
-      // The plan is empty.  Encode a plan for the current measured
-      // position.
-      const systems::BasicVector<double>* state_input =
-          this->EvalVectorInput(context, state_input_port_);
-      DRAKE_DEMAND(state_input);
-
+      // The plan is empty.  Encode a plan for the current planned position.
       const double current_plan_time = context.get_time() - plan.start_time;
       MakeFixedPlan(context.get_time(),
                     plan.pp.value(current_plan_time),

attic/manipulation/planner/robot_plan_interpolator.h

@@ -25,6 +25,7 @@ enum class InterpolatorType {
 /// It has two input ports, one for robot_plan_t messages containing a
 /// plan to follow, and another vector-valued port which expects the
 /// current (q,v) state of the robot.
+/// (The q,v input port is vestigial and should be left disconnected.)
 ///
 /// The system has two output ports, one with the current desired
 /// state (q,v) of the robot and another for the accelerations.
@@ -42,6 +43,7 @@ class RobotPlanInterpolator : public systems::LeafSystem<double> {
                         double update_interval = kDefaultPlanUpdateInterval);
   ~RobotPlanInterpolator() override;
 
+  /// N.B. This input port is useless and may be left disconnected.
   const systems::InputPort<double>& get_plan_input_port() const {
     return this->get_input_port(plan_input_port_);
   }

automotive/BUILD.bazel

@@ -19,7 +19,6 @@ load(
 load(
     "@drake//tools/vector_gen:vector_gen.bzl",
     "drake_cc_vector_gen_library",
-    "drake_cc_vector_gen_translator_library",
 )
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
@@ -36,7 +35,6 @@ drake_cc_package_library(
         ":curve2",
         ":driving_command_mux",
         ":dynamic_bicycle_car",
-        ":generated_translators",
         ":generated_vectors",
         ":idm_controller",
         ":idm_planner",
@@ -84,17 +82,6 @@ drake_cc_vector_gen_library(
     ] + _LCM_ENABLED_NAMED_VECTORS,
 )
 
-drake_cc_vector_gen_translator_library(
-    name = "generated_translators",
-    srcs = _LCM_ENABLED_NAMED_VECTORS,
-    deprecation = "The LcmAndVectorBaseTranslator and its related code are deprecated, and will be removed on 2019-05-01.",  # noqa
-    tags = ["manual"],  # Avoid 'build //...' yelling at us.
-    deps = [
-        ":generated_vectors",
-        "//lcmtypes:automotive",
-    ],
-)
-
 drake_cc_library(
     name = "trajectory",
     srcs = ["trajectory.cc"],
@@ -420,7 +407,6 @@ drake_cc_library(
         "//lcmtypes:lcmtypes_drake_cc",
         "//systems/analysis",
         "//systems/lcm:lcm_pubsub_system",
-        "//systems/lcm:lcmt_drake_signal_translator",
         "//systems/primitives:constant_value_source",
         "//systems/rendering:pose_aggregator",
         "//systems/rendering:pose_bundle_to_draw_message",

bindings/pydrake/attic/BUILD.bazel

@@ -60,16 +60,4 @@ install(
     deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
-drake_py_unittest(
-    name = "attic_forwarding_test",
-    deps = [
-        "//bindings/pydrake/attic/multibody",
-        "//bindings/pydrake/attic/solvers",
-        "//bindings/pydrake/attic/systems",
-        "//bindings/pydrake/multibody",
-        "//bindings/pydrake/solvers",
-        "//bindings/pydrake/systems",
-    ],
-)
-
 add_lint_tests_pydrake()

bindings/pydrake/attic/solvers/BUILD.bazel

@@ -37,7 +37,7 @@ drake_pybind_library(
     cc_srcs = ["ik_py.cc"],
     package_info = PACKAGE_INFO,
     py_deps = [
-        "//bindings/pydrake/multibody:rigid_body_tree_py",
+        "//bindings/pydrake/attic/multibody:rigid_body_tree_py",
     ],
     py_srcs = ["_ik_extra.py"],
 )

bindings/pydrake/attic/systems/BUILD.bazel

@@ -52,7 +52,7 @@ drake_pybind_library(
     cc_srcs = ["sensors_py.cc"],
     package_info = PACKAGE_INFO,
     py_deps = [
-        "//bindings/pydrake/multibody:rigid_body_tree_py",
+        "//bindings/pydrake/attic/multibody:rigid_body_tree_py",
         "//bindings/pydrake/systems:sensors_py",
     ],
 )
@@ -93,7 +93,7 @@ drake_py_unittest(
     ],
     deps = [
         ":controllers_py",
-        "//bindings/pydrake/multibody:rigid_body_tree_py",
+        "//bindings/pydrake/attic/multibody:rigid_body_tree_py",
     ],
 )
 

bindings/pydrake/multibody/BUILD.bazel

@@ -12,10 +12,6 @@ load(
     "drake_py_library",
     "drake_py_unittest",
 )
-load(
-    "@drake//tools/skylark:alias.bzl",
-    "drake_py_library_aliases",
-)
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
 
 package(default_visibility = [
@@ -136,23 +132,6 @@ drake_pybind_library(
     ],
 )
 
-PY_LIBRARIES_ATTIC_ALIASES = [
-    ":collision_py",
-    ":joints_py",
-    ":parsers_py",
-    ":rigid_body_plant_py",
-    ":rigid_body_py",
-    ":rigid_body_tree_py",
-    ":shapes_py",
-]
-
-drake_py_library_aliases(
-    actual_subdir = "bindings/pydrake/attic/multibody",
-    add_deprecation_warning = 1,
-    deprecation_removal_date = "2019-05-01",
-    relative_labels = PY_LIBRARIES_ATTIC_ALIASES,
-)
-
 PY_LIBRARIES_WITH_INSTALL = [
     ":benchmarks_py",
     ":inverse_kinematics_py",
@@ -163,7 +142,7 @@ PY_LIBRARIES_WITH_INSTALL = [
     ":tree_py",
 ]
 
-PY_LIBRARIES = PY_LIBRARIES_ATTIC_ALIASES + [
+PY_LIBRARIES = [
     ":module_py",
 ]
 

bindings/pydrake/multibody/all.py

@@ -3,14 +3,6 @@
 # Deprecated symbols.
 with warnings.catch_warnings():
     warnings.simplefilter("ignore", DeprecationWarning)
-    # - Attic (#9314)
-    from .collision import *
-    from .joints import *
-    from .parsers import *
-    from .rigid_body_plant import *
-    from .rigid_body_tree import *
-    from .rigid_body import *
-    from .shapes import *
     # - Shuffle (#9314. #9366)
     from .multibody_tree.all import *  # noqa
 

bindings/pydrake/solvers/BUILD.bazel

@@ -22,10 +22,6 @@ load(
     "drake_py_test",
     "drake_py_unittest",
 )
-load(
-    "@drake//tools/skylark:alias.bzl",
-    "drake_py_library_aliases",
-)
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
 
 package(default_visibility = [
@@ -127,17 +123,6 @@ drake_pybind_library(
     py_deps = [":mathematicalprogram_py"],
 )
 
-PY_LIBRARIES_ATTIC_ALIASES = [
-    ":ik_py",
-]
-
-drake_py_library_aliases(
-    actual_subdir = "bindings/pydrake/attic/solvers",
-    add_deprecation_warning = 1,
-    deprecation_removal_date = "2019-05-01",
-    relative_labels = PY_LIBRARIES_ATTIC_ALIASES,
-)
-
 PY_LIBRARIES_WITH_INSTALL = [
     ":gurobi_py",
     ":ipopt_py",
@@ -147,7 +132,7 @@ PY_LIBRARIES_WITH_INSTALL = [
     ":snopt_py",
 ]
 
-PY_LIBRARIES = PY_LIBRARIES_ATTIC_ALIASES + [
+PY_LIBRARIES = [
     ":module_py",
 ]
 

bindings/pydrake/solvers/all.py

@@ -1,10 +1,4 @@
 from __future__ import absolute_import
-import warnings
-
-# Deprecated symbols.
-with warnings.catch_warnings():
-    warnings.simplefilter("ignore", DeprecationWarning)
-    from .ik import *
 
 from .mathematicalprogram import *  # noqa
 # TODO(eric.cousineau): Merge these into `mathematicalprogram`.

bindings/pydrake/systems/BUILD.bazel

@@ -141,7 +141,6 @@ drake_pybind_library(
         "//bindings/pydrake:symbolic_py",
         "//bindings/pydrake/multibody:multibody_tree_py",
     ],
-    py_srcs = ["_controllers_extra.py"],
 )
 
 drake_pybind_library(
@@ -178,7 +177,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:cpp_template_py",
         "//bindings/pydrake/common:eigen_geometry_py",
     ],
-    py_srcs = ["_sensors_extra.py"],
 )
 
 drake_pybind_library(

bindings/pydrake/systems/controllers_py.cc

@@ -153,8 +153,6 @@ PYBIND11_MODULE(controllers, m) {
       py::arg("system"), py::arg("context"), py::arg("Q"), py::arg("R"),
       py::arg("N") = Eigen::Matrix<double, 0, 0>::Zero(),
       py::arg("input_port_index") = 0, doc.LinearQuadraticRegulator.doc_6args);
-
-  ExecuteExtraPythonCode(m);
 }
 
 }  // namespace pydrake

bindings/pydrake/systems/lcm_py.cc

@@ -160,16 +160,7 @@ PYBIND11_MODULE(lcm, m) {
             py::arg("channel"), py::arg("serializer"), py::arg("lcm"),
             py::arg("publish_period") = 0.0,
             // Keep alive: `self` keeps `DrakeLcmInterface` alive.
-            py::keep_alive<1, 3>(), doc.LcmPublisherSystem.ctor.doc_4args)
-        .def("set_publish_period",
-            [](Class* self, double period) {
-              WarnDeprecated("set_publish_period() is deprecated");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->set_publish_period(period);
-#pragma GCC diagnostic pop
-            },
-            py::arg("period"), cls_doc.set_publish_period.doc_deprecated);
+            py::keep_alive<1, 3>(), cls_doc.ctor.doc_4args);
   }
 
   {

bindings/pydrake/systems/sensors_py.cc

@@ -215,8 +215,6 @@ PYBIND11_MODULE(sensors, m) {
     };
     type_visit(def_image_input_port, PixelTypeList{});
   }
-
-  ExecuteExtraPythonCode(m);
 }
 
 }  // namespace pydrake

doc/bazel.rst

@@ -265,7 +265,7 @@ See https://docs.bazel.build/versions/master/user-manual.html#bazelrc.
 Drake offers two flavors of SNOPT bindings for the MathematicalProgram:
 
  - The ``--config snopt_f2c`` option selects the legacy bindings that use the
-   f2c compiler; these bindings will be removed on 2019-05-01.
+   f2c compiler; these bindings will be removed on 2019-06-01.
  - The ``--config snopt_fortran`` option selects the bindings that use the
    gfortran compiler; these bindings will be supported for the foreseeable
    future.

examples/kuka_iiwa_arm/BUILD.bazel

@@ -58,7 +58,6 @@ drake_cc_library(
         "//manipulation/kuka_iiwa",
         "//systems/framework:leaf_system",
         "//systems/lcm:lcm_pubsub_system",
-        "//systems/lcm:translator",
     ],
 )
 
@@ -146,6 +145,9 @@ drake_cc_binary(
         "//lcm",
         "//manipulation/schunk_wsg",
         "//systems/analysis",
+        "//systems/primitives:constant_vector_source",
+        "//systems/primitives:demultiplexer",
+        "//systems/primitives:discrete_derivative",
     ],
 )
 
@@ -173,6 +175,9 @@ drake_cc_binary(
         "//lcm",
         "//systems/analysis",
         "//systems/controllers:state_feedback_controller_interface",
+        "//systems/primitives:constant_vector_source",
+        "//systems/primitives:demultiplexer",
+        "//systems/primitives:discrete_derivative",
     ],
 )
 

examples/kuka_iiwa_arm/iiwa_lcm.h

@@ -20,7 +20,6 @@
 #include "drake/manipulation/kuka_iiwa/iiwa_status_receiver.h"
 #include "drake/manipulation/kuka_iiwa/iiwa_status_sender.h"
 #include "drake/systems/framework/leaf_system.h"
-#include "drake/systems/lcm/lcm_and_vector_base_translator.h"
 #include "drake/systems/lcm/lcm_subscriber_system.h"
 
 namespace drake {