Remove deprecated methods (2019-07) (RobotLocomotion#11757)

YinjieLin · Jul 1, 2019 · 3106f05 · 3106f05
1 parent d15d147
commit 3106f05
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Showing 30 changed files with 13 additions and 713 deletions.
diff --git a/bindings/pydrake/math_py.cc b/bindings/pydrake/math_py.cc
@@ -40,7 +40,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
   const char* doc_iso3_deprecation =
       "DO NOT USE!. We only offer this API for backwards compatibility with "
       "Isometry3 and it will be deprecated soon with the resolution of "
-      "#9865. This will be removed on or around 2019-07-01.";
+      "#9865. This will be removed on or around 2019-08-01.";
 
   constexpr auto& doc = pydrake_doc.drake.math;
   {
@@ -95,13 +95,6 @@ void DoScalarDependentDefinitions(py::module m, T) {
               return *self * p_BoQ_B;
             },
             py::arg("p_BoQ_B"), cls_doc.operator_mul.doc_1args_p_BoQ_B)
-        .def("multiply",
-            [doc_iso3_deprecation](
-                const RigidTransform<T>* self, const Isometry3<T>& other) {
-              WarnDeprecated(doc_iso3_deprecation);
-              return *self * RigidTransform<T>(other);
-            },
-            py::arg("other"), doc_iso3_deprecation)
         .def("matrix", &RigidTransform<T>::matrix, doc_iso3_deprecation)
         .def("linear", &RigidTransform<T>::linear, py_reference_internal,
             doc_iso3_deprecation);

diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -582,9 +582,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
                 const CoulombFriction<double>&>(
                 &Class::RegisterCollisionGeometry),
             py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
-            py::arg("coulomb_friction"),
-            cls_doc.RegisterCollisionGeometry
-                .doc_5args_body_X_BG_shape_name_coulomb_friction)
+            py::arg("coulomb_friction"), cls_doc.RegisterCollisionGeometry.doc)
         .def("RegisterCollisionGeometry",
             [](Class* self, const Body<T>& body,
                 const RigidTransform<double>& X_BG,
@@ -602,26 +600,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
             },
             py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
             py::arg("coulomb_friction"), py::arg("scene_graph"),
-            (std::string("(Deprecated.) ") +
-                cls_doc.RegisterCollisionGeometry
-                    .doc_5args_body_X_BG_shape_name_coulomb_friction)
-                .c_str())
-        .def("RegisterCollisionGeometry",
-            [](Class* self, const Body<T>& body, const Isometry3<double>& X_BG,
-                const geometry::Shape& shape, const std::string& name,
-                const CoulombFriction<double>& coulomb_friction,
-                geometry::SceneGraph<T>* scene_graph) {
-              WarnDeprecated(doc_iso3_deprecation);
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              return self->RegisterCollisionGeometry(body,
-                  RigidTransform<double>(X_BG), shape, name, coulomb_friction,
-                  scene_graph);
-#pragma GCC diagnostic pop
-            },
-            py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
-            py::arg("coulomb_friction"), py::arg("scene_graph") = nullptr,
-            doc_iso3_deprecation)
+            cls_doc.RegisterCollisionGeometry.doc_deprecated)
         .def("get_source_id", &Class::get_source_id, cls_doc.get_source_id.doc)
         .def("get_geometry_query_input_port",
             &Class::get_geometry_query_input_port, py_reference_internal,

diff --git a/bindings/pydrake/systems/framework_py_semantics.cc b/bindings/pydrake/systems/framework_py_semantics.cc
@@ -150,17 +150,6 @@ void DefineFrameworkPySemantics(py::module m) {
         // Bindings for Context methods inherited from ContextBase.
         .def("num_input_ports", &Context<T>::num_input_ports,
             doc.ContextBase.num_input_ports.doc)
-        .def("get_num_input_ports",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_input_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_input_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.ContextBase.get_num_input_ports.doc_deprecated)
         .def("num_output_ports", &Context<T>::num_output_ports,
             doc.ContextBase.num_output_ports.doc)
         // TODO(russt): Add remaining methods from ContextBase here.
@@ -227,28 +216,6 @@ void DefineFrameworkPySemantics(py::module m) {
         .def("get_abstract_parameter", &Context<T>::get_abstract_parameter,
             py::arg("index"), py_reference_internal,
             doc.Context.get_numeric_parameter.doc)
-        .def("get_num_discrete_state_groups",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_discrete_state_groups() instead. Will be removed "
-                  "on or after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_discrete_state_groups();
-#pragma GCC diagnostic pop
-            },
-            doc.Context.get_num_discrete_state_groups.doc_deprecated)
-        .def("get_num_abstract_states",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_abstract_states() instead. Will be removed on or "
-                  "after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_abstract_states();
-#pragma GCC diagnostic pop
-            },
-            doc.Context.get_num_abstract_states.doc_deprecated)
         // Bindings for the Context methods in the Doxygen group titled
         // "Methods for changing locally-stored values", placed in the same
         // order as the header file.
@@ -298,28 +265,6 @@ void DefineFrameworkPySemantics(py::module m) {
             doc.Context.FixInputPort.doc_2args_index_data)
         .def("SetAccuracy", &Context<T>::SetAccuracy, py::arg("accuracy"),
             doc.Context.SetAccuracy.doc)
-        .def("set_time",
-            [](Context<T>* self, const T& time) {
-              WarnDeprecated(
-                  "Use SetTime() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->set_time(time);
-#pragma GCC diagnostic pop
-            },
-            doc.Context.set_time.doc_deprecated)
-        .def("set_accuracy",
-            [](Context<T>* self, const optional<double>& accuracy) {
-              WarnDeprecated(
-                  "Use SetAccuracy() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->set_accuracy(accuracy);
-#pragma GCC diagnostic pop
-            },
-            doc.Context.set_accuracy.doc_deprecated)
         // Bindings for the Context methods in the Doxygen group titled
         // "Dangerous methods for changing locally-stored values", placed in the
         // same order as the header file.
@@ -498,17 +443,6 @@ void DefineFrameworkPySemantics(py::module m) {
     system_output
         .def("num_ports", &SystemOutput<T>::num_ports,
             doc.SystemOutput.num_ports.doc)
-        .def("get_num_ports",
-            [](const SystemOutput<T>* self) {
-              WarnDeprecated(
-                  "Use num_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemOutput.get_num_ports.doc_deprecated)
         .def("get_data", &SystemOutput<T>::get_data, py_reference_internal,
             doc.SystemOutput.get_data.doc)
         .def("get_vector_data", &SystemOutput<T>::get_vector_data,

diff --git a/bindings/pydrake/systems/framework_py_systems.cc b/bindings/pydrake/systems/framework_py_systems.cc
@@ -34,13 +34,13 @@ namespace {
 
 // TODO(eric.cousineau): Remove `*DeprecatedProtectedAlias*` cruft and
 // replace `PYDRAKE_TRY_PROTECTED_OVERLOAD` with `PYBIND11_OVERLOAD` once
-// deprecated methods are removed (on or around 2019-07-01).
+// deprecated methods are removed (on or around 2019-08-01).
 
 // Generates deprecation message pursuant to #9651.
 std::string DeprecatedProtectedAliasMessage(
     std::string name, std::string verb) {
   return fmt::format(
-      "'_{0}' is deprecated and will be removed on or around 2019-07-01. "
+      "'_{0}' is deprecated and will be removed on or around 2019-08-01. "
       "Please {1} '{0}' instead.",
       name, verb);
 }
@@ -358,35 +358,13 @@ struct Impl {
         // Topology.
         .def("num_input_ports", &System<T>::num_input_ports,
             doc.SystemBase.num_input_ports.doc)
-        .def("get_num_input_ports",
-            [](const System<T>* self) {
-              WarnDeprecated(
-                  "Use num_input_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_input_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemBase.get_num_input_ports.doc_deprecated)
         .def("get_input_port", &System<T>::get_input_port,
             py_reference_internal, py::arg("port_index"),
             doc.System.get_input_port.doc)
         .def("GetInputPort", &System<T>::GetInputPort, py_reference_internal,
             py::arg("port_name"), doc.System.GetInputPort.doc)
         .def("num_output_ports", &System<T>::num_output_ports,
             doc.SystemBase.num_output_ports.doc)
-        .def("get_num_output_ports",
-            [](const System<T>* self) {
-              WarnDeprecated(
-                  "Use num_output_ports() instead. Will be removed on or "
-                  "after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_output_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemBase.get_num_output_ports.doc_deprecated)
         .def("get_output_port", &System<T>::get_output_port,
             py_reference_internal, py::arg("port_index"),
             doc.System.get_output_port.doc)

diff --git a/bindings/pydrake/systems/framework_py_values.cc b/bindings/pydrake/systems/framework_py_values.cc
@@ -141,11 +141,11 @@ void DefineFrameworkPyValues(py::module m) {
       .def("SetFrom", &AbstractValue::SetFrom,
           pydrake_doc.drake.AbstractValue.SetFrom.doc)
       .def("get_value", abstract_stub("get_value"),
-          pydrake_doc.drake.AbstractValue.GetValue.doc)
+          pydrake_doc.drake.AbstractValue.get_value.doc)
       .def("get_mutable_value", abstract_stub("get_mutable_value"),
-          pydrake_doc.drake.AbstractValue.GetMutableValue.doc)
+          pydrake_doc.drake.AbstractValue.get_mutable_value.doc)
       .def("set_value", abstract_stub("set_value"),
-          pydrake_doc.drake.AbstractValue.SetValue.doc);
+          pydrake_doc.drake.AbstractValue.set_value.doc);
 
   // Add value instantiations for nominal data types. Types that require more
   // pizazz are listed below.

diff --git a/bindings/pydrake/systems/test/custom_test.py b/bindings/pydrake/systems/test/custom_test.py
@@ -134,20 +134,14 @@ def _create_adder_system(self):
 
     def _fix_adder_inputs(self, context):
         self.assertEqual(context.num_input_ports(), 2)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_input_ports()
         context.FixInputPort(0, BasicVector([1, 2, 3]))
         context.FixInputPort(1, BasicVector([4, 5, 6]))
 
     def test_diagram_adder(self):
         system = CustomDiagram(2, 3)
         self.assertEqual(system.num_input_ports(), 2)
-        with catch_drake_warnings(expected_count=1):
-            system.get_num_input_ports()
         self.assertEqual(system.get_input_port(0).size(), 3)
         self.assertEqual(system.num_output_ports(), 1)
-        with catch_drake_warnings(expected_count=1):
-            system.get_num_output_ports()
         self.assertEqual(system.get_output_port(0).size(), 3)
 
     def test_adder_execution(self):
@@ -511,8 +505,6 @@ def __init__(self):
             context.get_continuous_state_vector() is
             context.get_mutable_continuous_state_vector())
         self.assertEqual(context.num_discrete_state_groups(), 1)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_discrete_state_groups()
         self.assertTrue(
             context.get_discrete_state_vector() is
             context.get_mutable_discrete_state_vector())
@@ -529,8 +521,6 @@ def __init__(self):
             context.get_mutable_discrete_state(0) is
             context.get_mutable_discrete_state().get_vector(0))
         self.assertEqual(context.num_abstract_states(), 1)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_abstract_states()
         self.assertTrue(
             context.get_abstract_state() is
             context.get_mutable_abstract_state())
@@ -669,8 +659,6 @@ def DoCalcAbstractOutput(self, context, y_data):
             context.FixInputPort(0, AbstractValue.Make(expected_input_value))
             output = system.AllocateOutput()
             self.assertEqual(output.num_ports(), 1)
-            with catch_drake_warnings(expected_count=1):
-                output.get_num_ports()
             system.CalcOutput(context, output)
             value = output.get_data(0)
             self.assertEqual(value.get_value(), expected_output_value)

diff --git a/bindings/pydrake/systems/test/general_test.py b/bindings/pydrake/systems/test/general_test.py
@@ -334,12 +334,8 @@ def check_output(context):
 
             # Create simulator specifying context.
             context = system.CreateDefaultContext()
-            with catch_drake_warnings(expected_count=1):
-                context.set_time(0.)
             context.SetTime(0.)
 
-            with catch_drake_warnings(expected_count=1):
-                context.set_accuracy(1e-4)
             context.SetAccuracy(1e-4)
             self.assertEqual(context.get_accuracy(), 1e-4)
 

diff --git a/common/test/value_test.cc b/common/test/value_test.cc
@@ -197,18 +197,6 @@ GTEST_TEST(ValueTest, MaybeGetValue) {
 
   ASSERT_NE(string_value->maybe_get_value<std::string>(), nullptr);
   EXPECT_EQ(*string_value->maybe_get_value<std::string>(), "hello");
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_EQ(double_value->MaybeGetValue<std::string>(), nullptr);
-  EXPECT_EQ(string_value->MaybeGetValue<double>(), nullptr);
-
-  ASSERT_NE(double_value->MaybeGetValue<double>(), nullptr);
-  EXPECT_EQ(*double_value->MaybeGetValue<double>(), 3.);
-
-  ASSERT_NE(string_value->MaybeGetValue<std::string>(), nullptr);
-  EXPECT_EQ(*string_value->MaybeGetValue<std::string>(), "hello");
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, Access) {
@@ -219,14 +207,6 @@ TYPED_TEST(TypedValueTest, Access) {
   EXPECT_EQ(3, erased.get_value<T>());
   ASSERT_NE(erased.maybe_get_value<T>(), nullptr);
   EXPECT_EQ(3, *erased.maybe_get_value<T>());
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_EQ(3, erased.GetValue<T>());
-  EXPECT_EQ(3, erased.GetValueOrThrow<T>());
-  ASSERT_NE(erased.MaybeGetValue<T>(), nullptr);
-  EXPECT_EQ(3, *erased.MaybeGetValue<T>());
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, Clone) {
@@ -248,18 +228,6 @@ TYPED_TEST(TypedValueTest, Mutation) {
   EXPECT_EQ(5, erased.get_value<T>());
   erased.SetFrom(Value<T>(6));
   EXPECT_EQ(6, erased.get_value<T>());
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  erased.SetValue<T>(T{7});
-  EXPECT_EQ(7, erased.GetValue<T>());
-  erased.SetValueOrThrow<T>(T{8});
-  EXPECT_EQ(8, erased.GetValue<T>());
-  erased.SetFrom(Value<T>(9));
-  EXPECT_EQ(9, erased.GetValue<T>());
-  erased.SetFromOrThrow(Value<T>(10));
-  EXPECT_EQ(10, erased.GetValue<T>());
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, BadCast) {
@@ -271,14 +239,6 @@ TYPED_TEST(TypedValueTest, BadCast) {
   EXPECT_THROW(erased.get_mutable_value<T>(), std::logic_error);
   EXPECT_THROW(erased.set_value<T>(T{3}), std::logic_error);
   EXPECT_THROW(erased.SetFrom(Value<T>(2)), std::logic_error);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_THROW(erased.GetValueOrThrow<T>(), std::logic_error);
-  EXPECT_THROW(erased.GetMutableValueOrThrow<T>(), std::logic_error);
-  EXPECT_THROW(erased.SetValueOrThrow<T>(T{3}), std::logic_error);
-  EXPECT_THROW(erased.SetFromOrThrow(Value<T>(2)), std::logic_error);
-#pragma GCC diagnostic pop
 }
 
 class PrintInterface {