Use std::optional instead of drake::optional in attic and bindings (R…

…obotLocomotion#12271)

attic/manipulation/planner/test/rbt_differential_inverse_kinematics_test.cc

@@ -1,12 +1,12 @@
 #include "drake/manipulation/planner/rbt_differential_inverse_kinematics.h"
 
 #include <memory>
+#include <optional>
 #include <random>
 #include <string>
 
 #include <gtest/gtest.h>
 
-#include "drake/common/drake_optional.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/find_resource.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
@@ -78,7 +78,7 @@ class DifferentialInverseKinematicsTest : public ::testing::Test {
 
     const double velocity_tolerance{1e-6};
 
-    ASSERT_TRUE(result.joint_velocities != nullopt);
+    ASSERT_TRUE(result.joint_velocities != std::nullopt);
     drake::log()->info("result.joint_velocities = {}",
                        result.joint_velocities->transpose());
 
@@ -149,7 +149,7 @@ TEST_F(DifferentialInverseKinematicsTest, OverConstrainedTest) {
   DifferentialInverseKinematicsStatus function_status{function_result.status};
   drake::log()->info("function_status = {}", function_status);
 
-  ASSERT_TRUE(function_result.joint_velocities == nullopt);
+  ASSERT_TRUE(function_result.joint_velocities == std::nullopt);
 }
 
 TEST_F(DifferentialInverseKinematicsTest, GainTest) {
@@ -173,7 +173,7 @@ TEST_F(DifferentialInverseKinematicsTest, GainTest) {
     DifferentialInverseKinematicsResult function_result =
         rbt::DoDifferentialInverseKinematics(
             *tree_, *cache_, V_WE_desired, *frame_E_, *params_);
-    ASSERT_TRUE(function_result.joint_velocities != nullopt);
+    ASSERT_TRUE(function_result.joint_velocities != std::nullopt);
 
     // Transform the resulting end effector frame's velocity into body frame.
     *cache_ = tree_->doKinematics(q, function_result.joint_velocities.value());

attic/manipulation/scene_generation/random_clutter_generator.cc

@@ -75,7 +75,7 @@ RandomClutterGenerator::RandomClutterGenerator(
 
 VectorX<double> RandomClutterGenerator::GenerateFloatingClutter(
     const VectorX<double>& q_nominal, std::default_random_engine* generator,
-    optional<double> z_height_cost) {
+    std::optional<double> z_height_cost) {
   DRAKE_DEMAND(scene_tree_ptr_->get_num_positions() == q_nominal.size());
 
   VectorX<double> q_nominal_candidate = q_nominal;
@@ -150,7 +150,7 @@ int RandomClutterGenerator::ComputeIK(
     VectorX<double>* q_result,
     const std::vector<RigidBodyConstraint*>& constraint_array,
     const VectorX<double>& q_initial, const VectorX<double>& q_nominal,
-    const std::vector<int>& z_indices, optional<double> z_height_cost) {
+    const std::vector<int>& z_indices, std::optional<double> z_height_cost) {
   VectorX<double> q_result_return;
 
   Eigen::MatrixXd Q = Eigen::MatrixXd::Zero(q_initial.size(), q_initial.size());

attic/manipulation/scene_generation/random_clutter_generator.h

@@ -1,11 +1,11 @@
 #pragma once
 
+#include <optional>
 #include <random>
 #include <set>
 #include <string>
 #include <vector>
 
-#include "drake/common/drake_optional.h"
 #include "drake/common/eigen_types.h"
 #include "drake/multibody/rigid_body_constraint.h"
 #include "drake/multibody/rigid_body_tree.h"
@@ -71,16 +71,16 @@ class RandomClutterGenerator {
    * configuration.
    */
   VectorX<double> GenerateFloatingClutter(const VectorX<double>& q_nominal,
-                                          std::default_random_engine* generator,
-                                          optional<double> z_height_cost = {});
+      std::default_random_engine* generator,
+      std::optional<double> z_height_cost = {});
 
  private:
   int ComputeIK(VectorX<double>* q_result,
                 const std::vector<RigidBodyConstraint*>& constraint_array,
                 const VectorX<double>& q_initial,
                 const VectorX<double>& q_nominal,
                 const std::vector<int>& z_indices,
-                optional<double> z_height_cost = {});
+                std::optional<double> z_height_cost = {});
 
   void AddBodyToOrientationConstraint(const RigidBody<double>& body,
                                       VectorX<double>* linear_posture_lb,

attic/multibody/rigid_body_plant/compliant_material.h

@@ -1,8 +1,9 @@
 #pragma once
 
+#include <optional>
+
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_optional.h"
 
 namespace drake {
 namespace systems {
@@ -88,10 +89,12 @@ class CompliantMaterial {
    constructed instance will report true. Furthermore, it must
    return true if set_youngs_modulus_to_default() has been called and false if
    set_youngs_modulus() has been called. */
-  bool youngs_modulus_is_default() const { return youngs_modulus_ == nullopt; }
+  bool youngs_modulus_is_default() const {
+    return youngs_modulus_ == std::nullopt;
+  }
 
   /** Reset the elasticity value to report the default value. */
-  void set_youngs_modulus_to_default() { youngs_modulus_ = nullopt; }
+  void set_youngs_modulus_to_default() { youngs_modulus_ = std::nullopt; }
 
   /** Set the dissipation value. Attempting to set a negative value will throw
    an exception. Returns a reference to `*this` so that multiple invocations
@@ -110,10 +113,10 @@ class CompliantMaterial {
    constructed instance will report true. Furthermore, it must
    return true if set_dissipation_to_default() has been called and false if
    set_dissipation() has been called. */
-  bool dissipation_is_default() const { return dissipation_ == nullopt; }
+  bool dissipation_is_default() const { return dissipation_ == std::nullopt; }
 
   /** Reset the dissipation value to report the default value. */
-  void set_dissipation_to_default() { dissipation_ = nullopt; }
+  void set_dissipation_to_default() { dissipation_ = std::nullopt; }
 
   /** Sets *both* coefficients of friction to the same value.
    @throws std::exception if the value is negative.  Returns a reference to
@@ -160,13 +163,13 @@ class CompliantMaterial {
   bool friction_is_default() const {
     // NOTE: Friction values can only be set in tandem; so if one is default,
     // both must be default.
-    return static_friction_ == nullopt;
+    return static_friction_ == std::nullopt;
   }
 
   /** Reset both friction coefficient values to report the default value. */
   void set_friction_to_default() {
-    static_friction_ = nullopt;
-    dynamic_friction_ = nullopt;
+    static_friction_ = std::nullopt;
+    dynamic_friction_ = std::nullopt;
   }
 
   static const double kDefaultYoungsModulus;
@@ -182,10 +185,10 @@ class CompliantMaterial {
   static void ThrowForBadFriction(double static_friction,
                                   double dynamic_friction);
 
-  optional<double> youngs_modulus_;
-  optional<double> dissipation_;
-  optional<double> static_friction_;
-  optional<double> dynamic_friction_;
+  std::optional<double> youngs_modulus_;
+  std::optional<double> dissipation_;
+  std::optional<double> static_friction_;
+  std::optional<double> dynamic_friction_;
 };
 
 }  // namespace systems

attic/multibody/rigid_body_plant/rigid_body_plant.h

@@ -1,14 +1,14 @@
 #pragma once
 
 #include <memory>
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include <Eigen/Geometry>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_optional.h"
 #include "drake/multibody/constraint/constraint_solver.h"
 #include "drake/multibody/rigid_body_plant/compliant_contact_model.h"
 #include "drake/multibody/rigid_body_plant/kinematics_results.h"
@@ -544,7 +544,7 @@ class RigidBodyPlant : public LeafSystem<T> {
   multibody::constraint::ConstraintSolver<double> constraint_solver_;
 
   OutputPortIndex state_output_port_index_{};
-  optional<OutputPortIndex> state_derivative_output_port_index_;
+  std::optional<OutputPortIndex> state_derivative_output_port_index_;
   OutputPortIndex kinematics_output_port_index_{};
   OutputPortIndex contact_output_port_index_{};
 

attic/systems/sensors/rgbd_camera.cc

@@ -138,7 +138,7 @@ void RgbdCamera::InitRenderer() {
     const int body_id = body->get_body_index();
     auto& body_visual_indices = body_visual_indices_map_[body_id];
     for (const auto& visual : body->get_visual_elements()) {
-      optional<VisualIndex> visual_index =
+      std::optional<VisualIndex> visual_index =
           renderer_->RegisterVisual(visual, body_id);
       if (visual_index) {
         body_visual_indices.push_back(*visual_index);

attic/systems/sensors/rgbd_renderer.cc

@@ -14,7 +14,7 @@ RgbdRenderer::RgbdRenderer(const RenderingConfig& config,
 
 RgbdRenderer::~RgbdRenderer() {}
 
-optional<RgbdRenderer::VisualIndex> RgbdRenderer::RegisterVisual(
+std::optional<RgbdRenderer::VisualIndex> RgbdRenderer::RegisterVisual(
     const DrakeShapes::VisualElement& visual, int body_id) {
   return ImplRegisterVisual(visual, body_id);
 }

attic/systems/sensors/rgbd_renderer.h

@@ -1,11 +1,11 @@
 #pragma once
 
 #include <limits>
+#include <optional>
 
 #include <Eigen/Dense>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_optional.h"
 #include "drake/common/type_safe_index.h"
 #include "drake/multibody/shapes/visual_element.h"
 #include "drake/systems/sensors/color_palette.h"
@@ -117,7 +117,7 @@ class RgbdRenderer {
   /// `nullopt` will be returned if `visual` contains an unsupported shape.
   /// We assume `visual_id` will be used together with `body_id` when you call
   /// UpdateVisualPose() later.
-  optional<VisualIndex> RegisterVisual(
+  std::optional<VisualIndex> RegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id);
 
   /// Updates the pose of a visual with given pose X_WV.
@@ -168,7 +168,7 @@ class RgbdRenderer {
  private:
   virtual void ImplAddFlatTerrain() = 0;
 
-  virtual optional<VisualIndex> ImplRegisterVisual(
+  virtual std::optional<VisualIndex> ImplRegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id) = 0;
 
   virtual void ImplUpdateVisualPose(const Eigen::Isometry3d& X_WV, int body_id,

attic/systems/sensors/rgbd_renderer_ospray.cc

@@ -121,7 +121,7 @@ class RgbdRendererOSPRay::Impl : private ModuleInitVtkRenderingOpenGL2 {
 
   void ImplAddFlatTerrain();
 
-  optional<VisualIndex> ImplRegisterVisual(
+  std::optional<VisualIndex> ImplRegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id);
 
   void ImplUpdateVisualPose(const Eigen::Isometry3d& X_WV, int body_id,
@@ -309,7 +309,7 @@ RgbdRendererOSPRay::Impl::Impl(RgbdRendererOSPRay* parent,
   cp->renderer->AddLight(light_);
 }
 
-optional<RgbdRenderer::VisualIndex>
+std::optional<RgbdRenderer::VisualIndex>
 RgbdRendererOSPRay::Impl::ImplRegisterVisual(
     const DrakeShapes::VisualElement& visual, int body_id) {
   bool shape_matched = true;
@@ -431,11 +431,11 @@ RgbdRendererOSPRay::Impl::ImplRegisterVisual(
       actor_collections[i].push_back(actors_[i].GetPointer());
     }
 
-    return optional<VisualIndex>(VisualIndex(static_cast<int>(
+    return std::optional<VisualIndex>(VisualIndex(static_cast<int>(
         id_object_maps_[body_id][ImageType::kColor].size() - 1)));
   }
 
-  return nullopt;
+  return std::nullopt;
 }
 
 RgbdRendererOSPRay::RgbdRendererOSPRay(const RenderingConfig& config,
@@ -445,7 +445,7 @@ RgbdRendererOSPRay::RgbdRendererOSPRay(const RenderingConfig& config,
 
 RgbdRendererOSPRay::~RgbdRendererOSPRay() {}
 
-optional<RgbdRenderer::VisualIndex> RgbdRendererOSPRay::ImplRegisterVisual(
+std::optional<RgbdRenderer::VisualIndex> RgbdRendererOSPRay::ImplRegisterVisual(
     const DrakeShapes::VisualElement& visual, int body_id) {
   return impl_->ImplRegisterVisual(visual, body_id);
 }

attic/systems/sensors/rgbd_renderer_ospray.h

@@ -29,7 +29,7 @@ class RgbdRendererOSPRay final : public RgbdRenderer {
  private:
   void ImplAddFlatTerrain() override;
 
-  optional<VisualIndex> ImplRegisterVisual(
+  std::optional<VisualIndex> ImplRegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id) override;
 
   void ImplUpdateVisualPose(const Eigen::Isometry3d& X_WV,

attic/systems/sensors/rgbd_renderer_vtk.cc

@@ -161,7 +161,7 @@ class RgbdRendererVTK::Impl : private ModuleInitVtkRenderingOpenGL2 {
 
   void ImplAddFlatTerrain();
 
-  optional<VisualIndex> ImplRegisterVisual(
+  std::optional<VisualIndex> ImplRegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id);
 
   void ImplUpdateVisualPose(const Eigen::Isometry3d& X_WV, int body_id,
@@ -417,8 +417,9 @@ RgbdRendererVTK::Impl::Impl(RgbdRendererVTK* parent,
       static_cast<float>(parent_->config().z_far));
 }
 
-optional<RgbdRenderer::VisualIndex> RgbdRendererVTK::Impl::ImplRegisterVisual(
-    const DrakeShapes::VisualElement& visual, int body_id) {
+std::optional<RgbdRenderer::VisualIndex>
+    RgbdRendererVTK::Impl::ImplRegisterVisual(
+        const DrakeShapes::VisualElement& visual, int body_id) {
   std::array<vtkNew<vtkActor>, 3> actors;
   std::array<vtkNew<vtkOpenGLPolyDataMapper>, 3> mappers;
   // Sets vertex and fragment shaders only to the depth mapper.
@@ -561,11 +562,11 @@ optional<RgbdRenderer::VisualIndex> RgbdRendererVTK::Impl::ImplRegisterVisual(
       actor_collections[i].push_back(actors[i].GetPointer());
     }
 
-    return optional<VisualIndex>(VisualIndex(static_cast<int>(
+    return std::optional<VisualIndex>(VisualIndex(static_cast<int>(
         id_object_maps_[body_id][ImageType::kColor].size() - 1)));
   }
 
-  return nullopt;
+  return std::nullopt;
 }
 
 RgbdRendererVTK::RgbdRendererVTK(const RenderingConfig& config,
@@ -575,7 +576,7 @@ RgbdRendererVTK::RgbdRendererVTK(const RenderingConfig& config,
 
 RgbdRendererVTK::~RgbdRendererVTK() {}
 
-optional<RgbdRenderer::VisualIndex> RgbdRendererVTK::ImplRegisterVisual(
+std::optional<RgbdRenderer::VisualIndex> RgbdRendererVTK::ImplRegisterVisual(
     const DrakeShapes::VisualElement& visual, int body_id) {
   return impl_->ImplRegisterVisual(visual, body_id);
 }

attic/systems/sensors/rgbd_renderer_vtk.h

@@ -22,7 +22,7 @@ class RgbdRendererVTK final : public RgbdRenderer {
  private:
   void ImplAddFlatTerrain() override;
 
-  optional<VisualIndex> ImplRegisterVisual(
+  std::optional<VisualIndex> ImplRegisterVisual(
       const DrakeShapes::VisualElement& visual, int body_id) override;
 
   void ImplUpdateVisualPose(const Eigen::Isometry3d& X_WV,

bindings/pydrake/examples/manipulation_station_py.cc

@@ -47,7 +47,7 @@ PYBIND11_MODULE(manipulation_station, m) {
           doc.ManipulationStation.SetupManipulationClassStation.doc)
       .def("SetupClutterClearingStation",
           &ManipulationStation<T>::SetupClutterClearingStation,
-          py::arg("X_WCameraBody") = nullopt,
+          py::arg("X_WCameraBody") = std::nullopt,
           py::arg("collision_model") = IiwaCollisionModel::kNoCollision,
           doc.ManipulationStation.SetupClutterClearingStation.doc)
       .def("AddManipulandFromFile",

bindings/pydrake/lcm_py.cc

@@ -31,7 +31,7 @@ PYBIND11_MODULE(lcm, m) {
         // wreak havoc on the Python GIL with a callback.
         .def("Publish",
             [](Class* self, const std::string& channel, py::bytes buffer,
-                optional<double> time_sec) {
+                std::optional<double> time_sec) {
               // TODO(eric.cousineau): See if there is a way to extra the raw
               // bytes from `buffer` without copying.
               std::string str = buffer;

bindings/pydrake/multibody/plant_py.cc

@@ -562,17 +562,17 @@ void DoScalarDependentDefinitions(py::module m, T) {
             py::arg("model_instance"), cls_doc.GetBodyIndices.doc)
         .def("GetJointByName",
             [](const Class* self, const string& name,
-                optional<ModelInstanceIndex> model_instance) -> auto& {
+                std::optional<ModelInstanceIndex> model_instance) -> auto& {
               return self->GetJointByName(name, model_instance);
             },
-            py::arg("name"), py::arg("model_instance") = nullopt,
+            py::arg("name"), py::arg("model_instance") = std::nullopt,
             py_reference_internal, cls_doc.GetJointByName.doc)
         .def("GetMutableJointByName",
             [](Class * self, const string& name,
-                optional<ModelInstanceIndex> model_instance) -> auto& {
+                std::optional<ModelInstanceIndex> model_instance) -> auto& {
               return self->GetMutableJointByName(name, model_instance);
             },
-            py::arg("name"), py::arg("model_instance") = nullopt,
+            py::arg("name"), py::arg("model_instance") = std::nullopt,
             py_reference_internal, cls_doc.GetJointByName.doc)
         .def("GetJointActuatorByName",
             overload_cast_explicit<const JointActuator<T>&, const string&>(