Merge pull request RobotLocomotion#7494 from m-chaturvedi/try_pybind1…

…1_change

Use a more recent Pybind11 fork

WORKSPACE

@@ -238,8 +238,8 @@ github_archive(
 github_archive(
     name = "pybind11",
     repository = "RobotLocomotion/pybind11",
-    commit = "6d72785766558047ee2e2075198c07d8c25eb631",
-    sha256 = "08b4813b3b17f607efc4e8ba8b73bf55759ba744cab125e9fc666b5161cb1d0a",  # noqa
+    commit = "ffcf754ae9e766632610975d22372a86a7b63014",
+    sha256 = "7cd6f4efb02bf9ae17eeb2afba68023af913e61ae76e8b4254203d0eec019525",  # noqa
     build_file = "tools/workspace/pybind11/pybind11.BUILD.bazel",
 )
 

drake/bindings/pybind11/pydrake_autodiffutils.cc

@@ -23,8 +23,8 @@ AutoDiffXd eval(const Eigen::AutoDiffScalar<Derived>& x) {
   return AutoDiffXd(x.value(), x.derivatives());
 }
 
-PYBIND11_PLUGIN(_pydrake_autodiffutils) {
-  py::module m("_pydrake_autodiffutils", "Bindings for Eigen AutoDiff Scalars");
+PYBIND11_MODULE(_pydrake_autodiffutils, m) {
+  m.doc() = "Bindings for Eigen AutoDiff Scalars";
 
   py::class_<AutoDiffXd>(m, "AutoDiffXd")
     .def("__init__",
@@ -77,6 +77,4 @@ PYBIND11_PLUGIN(_pydrake_autodiffutils) {
     .def("__rtruediv__", [](const AutoDiffXd& self, double other) {
       return eval(other / self);
     }, py::is_operator());
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_common.cc

@@ -18,8 +18,8 @@ void trigger_an_assertion_failure() {
 }
 }  // namespace
 
-PYBIND11_PLUGIN(_pydrake_common) {
-  py::module m("_pydrake_common", "Bindings for //drake/common:common");
+PYBIND11_MODULE(_pydrake_common, m) {
+  m.doc() = "Bindings for //drake/common:common";
 
   // Turn DRAKE_ASSERT and DRAKE_DEMAND exceptions into native SystemExit.
   // Admittedly, it's unusual for a python library like pydrake to raise
@@ -60,6 +60,4 @@ PYBIND11_PLUGIN(_pydrake_common) {
         "Set Drake's assertion failure mechanism to be exceptions");
   m.def("trigger_an_assertion_failure", &trigger_an_assertion_failure,
         "Trigger a Drake C++ assertion failure");
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_gurobi.cc

@@ -4,17 +4,15 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(gurobi) {
+PYBIND11_MODULE(gurobi, m) {
   using drake::solvers::GurobiSolver;
 
-  py::module m("gurobi", "Gurobi solver bindings for MathematicalProgram");
+  m.doc() = "Gurobi solver bindings for MathematicalProgram";
 
   py::object solverinterface =
       py::module::import("pydrake.solvers.mathematicalprogram").attr(
           "MathematicalProgramSolverInterface");
 
   py::class_<GurobiSolver>(m, "GurobiSolver", solverinterface)
     .def(py::init<>());
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_ik.cc

@@ -8,8 +8,8 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(_pydrake_ik) {
-  py::module m("_pydrake_ik", "RigidBodyTree inverse kinematics");
+PYBIND11_MODULE(_pydrake_ik, m) {
+  m.doc() = "RigidBodyTree inverse kinematics";
 
   py::class_<RigidBodyConstraint>(m, "RigidBodyConstraint");
 
@@ -245,6 +245,4 @@ PYBIND11_PLUGIN(_pydrake_ik) {
     .def_readonly("q_sol", &IKResults::q_sol)
     .def_readonly("info", &IKResults::info)
     .def_readonly("infeasible_constraints", &IKResults::infeasible_constraints);
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_ipopt.cc

@@ -4,17 +4,15 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(ipopt) {
+PYBIND11_MODULE(ipopt, m) {
   using drake::solvers::IpoptSolver;
 
-  py::module m("ipopt", "Ipopt solver bindings for MathematicalProgram");
+  m.doc() = "Ipopt solver bindings for MathematicalProgram";
 
   py::object solverinterface =
       py::module::import("pydrake.solvers.mathematicalprogram").attr(
           "MathematicalProgramSolverInterface");
 
   py::class_<IpoptSolver>(m, "IpoptSolver", solverinterface)
     .def(py::init<>());
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_mathematicalprogram.cc

@@ -78,9 +78,8 @@ auto RegisterBinding(py::handle* pscope,
 
 }  // namespace
 
-PYBIND11_PLUGIN(_pydrake_mathematicalprogram) {
-  py::module m("_pydrake_mathematicalprogram",
-               "Drake MathematicalProgram Bindings");
+PYBIND11_MODULE(_pydrake_mathematicalprogram, m) {
+  m.doc() = "Drake MathematicalProgram Bindings";
 
   py::object variable =
     py::module::import("pydrake.symbolic").attr("Variable");
@@ -271,6 +270,4 @@ PYBIND11_PLUGIN(_pydrake_mathematicalprogram) {
 
   RegisterBinding<LinearCost>(&m, &prog_cls, "LinearCost");
   RegisterBinding<QuadraticCost>(&m, &prog_cls, "QuadraticCost");
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_mosek.cc

@@ -4,17 +4,15 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(mosek) {
+PYBIND11_MODULE(mosek, m) {
   using drake::solvers::MosekSolver;
 
-  py::module m("mosek", "Mosek solver bindings for MathematicalProgram");
+  m.doc() = "Mosek solver bindings for MathematicalProgram";
 
   py::object solverinterface =
       py::module::import("pydrake.solvers.mathematicalprogram").attr(
           "MathematicalProgramSolverInterface");
 
   py::class_<MosekSolver>(m, "MosekSolver", solverinterface)
     .def(py::init<>());
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_parsers.cc

@@ -4,10 +4,10 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(parsers) {
+PYBIND11_MODULE(parsers, m) {
   using drake::parsers::PackageMap;
 
-  py::module m("parsers", "Tools for loading robots from various files");
+  m.doc() = "Tools for loading robots from various files";
 
   py::class_<PackageMap>(m, "PackageMap")
     .def(py::init<>(), py::return_value_policy::reference)
@@ -18,6 +18,4 @@ PYBIND11_PLUGIN(parsers) {
     .def("PopulateFromFolder", &PackageMap::PopulateFromFolder)
     .def("PopulateFromEnvironment", &PackageMap::PopulateFromEnvironment)
     .def("PopulateUpstreamToDrake", &PackageMap::PopulateUpstreamToDrake);
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_rbtree.cc

@@ -11,8 +11,8 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(_pydrake_rbtree) {
-  py::module m("_pydrake_rbtree", "Bindings for the RigidBodyTree class");
+PYBIND11_MODULE(_pydrake_rbtree, m) {
+  m.doc() = "Bindings for the RigidBodyTree class";
 
   using drake::AutoDiffXd;
   using drake::multibody::joints::FloatingBaseType;
@@ -200,6 +200,4 @@ PYBIND11_PLUGIN(_pydrake_rbtree) {
   m.def("AddModelInstanceFromUrdfStringSearchingInRosPackages",
         &drake::parsers::urdf::\
           AddModelInstanceFromUrdfStringSearchingInRosPackages);
-
-  return m.ptr();
 }

drake/bindings/pybind11/pydrake_symbolic.cc

@@ -6,14 +6,13 @@
 
 namespace py = pybind11;
 
-PYBIND11_PLUGIN(_pydrake_symbolic) {
+PYBIND11_MODULE(_pydrake_symbolic, m) {
   using drake::symbolic::Variable;
   using drake::symbolic::Expression;
   using drake::symbolic::Formula;
   using drake::symbolic::pow;
 
-  py::module m("_pydrake_symbolic",
-               "Symbolic variables, expressions, and formulae");
+  m.doc() = "Symbolic variables, expressions, and formulae";
 
   py::class_<Variable>(m, "Variable")
     .def(py::init<const std::string&>())
@@ -248,6 +247,4 @@ PYBIND11_PLUGIN(_pydrake_symbolic) {
     .def("logical_not", [](const Formula& a) {
           return !a;
     });
-
-  return m.ptr();
 }

tools/workspace/pybind11/pybind11.BUILD.bazel

@@ -15,22 +15,29 @@ cc_library(
     name = "pybind11",
     hdrs = [
         "include/pybind11/attr.h",
+        "include/pybind11/buffer_info.h",
         "include/pybind11/cast.h",
         "include/pybind11/chrono.h",
         "include/pybind11/common.h",
         "include/pybind11/complex.h",
-        "include/pybind11/descr.h",
+        "include/pybind11/detail/class.h",
+        "include/pybind11/detail/common.h",
+        "include/pybind11/detail/descr.h",
+        "include/pybind11/detail/init.h",
+        "include/pybind11/detail/internals.h",
+        "include/pybind11/detail/typeid.h",
         "include/pybind11/eigen.h",
+        "include/pybind11/embed.h",
         "include/pybind11/eval.h",
         "include/pybind11/functional.h",
+        "include/pybind11/iostream.h",
         "include/pybind11/numpy.h",
         "include/pybind11/operators.h",
         "include/pybind11/options.h",
         "include/pybind11/pybind11.h",
         "include/pybind11/pytypes.h",
         "include/pybind11/stl.h",
         "include/pybind11/stl_bind.h",
-        "include/pybind11/typeid.h",
     ],
     includes = ["include"],
     deps = [
@@ -43,7 +50,7 @@ cc_library(
 cmake_config(
     package = "pybind11",
     script = "@drake//tools/workspace/pybind11:pybind11-create-cps.py",
-    version_file = "include/pybind11/common.h",
+    version_file = "include/pybind11/detail/common.h",
 )
 
 # Creates rule :install_cmake_config.
@@ -53,7 +60,6 @@ install_files(
     name = "install_extra_cmake",
     dest = "lib/cmake/pybind11",
     files = [
-        "tools/FindNumPy.cmake",
         "tools/FindPythonLibsNew.cmake",
         "tools/pybind11Tools.cmake",
     ],