Replace deprecated calls: set_time -> SetTime, set_accuracy -> SetAcc…

…uracy. (RobotLocomotion#11077)

attic/manipulation/planner/test/robot_plan_interpolator_test.cc

@@ -150,7 +150,7 @@ void DoTrajectoryTest(InterpolatorType interp_type) {
   }
 
   for (const TrajectoryTestCase& kase : cases) {
-    context->set_time(kase.time);
+    context->SetTime(kase.time);
     dut.CalcUnrestrictedUpdate(*context, &context->get_mutable_state());
     dut.CalcOutput(*context, output.get());
     const double position =
@@ -176,7 +176,7 @@ void DoTrajectoryTest(InterpolatorType interp_type) {
   if (interp_type == InterpolatorType::Cubic ||
       interp_type == InterpolatorType::ZeroOrderHold ||
       interp_type == InterpolatorType::Pchip) {
-    context->set_time(t.back() + 0.01);
+    context->SetTime(t.back() + 0.01);
     dut.CalcUnrestrictedUpdate(*context, &context->get_mutable_state());
     dut.CalcOutput(*context, output.get());
     const double velocity =
@@ -193,7 +193,7 @@ void DoTrajectoryTest(InterpolatorType interp_type) {
 
   // Check that sending an empty plan causes us to continue to output
   // the same commanded position.
-  context->set_time(1);
+  context->SetTime(1);
   dut.CalcUnrestrictedUpdate(*context, &context->get_mutable_state());
   dut.CalcOutput(*context, output.get());
   double position =

attic/manipulation/scene_generation/simulate_plant_to_rest.cc

@@ -86,7 +86,7 @@ VectorX<double> SimulatePlantToRest::Run(const VectorX<double>& q_ik,
         .get_mutable_continuous_state_vector()
         .SetFromVector(x_initial);
     simulator.Initialize();
-    simulator.get_mutable_context().set_time(0.0);
+    simulator.get_mutable_context().SetTime(0.0);
 
     simulator.reset_integrator<systems::RungeKutta2Integrator<double>>(
         *diagram_, 0.0001, &simulator.get_mutable_context());

attic/systems/controllers/qp_inverse_dynamics/test/qp_output_translator_system_test.cc

@@ -32,7 +32,7 @@ GTEST_TEST(QpOutputTranslatorTest, QpOutputTranslatorTest) {
   auto context = dut->CreateDefaultContext();
   auto output = dut->AllocateOutput();
 
-  context->set_time(3.);
+  context->SetTime(3.);
 
   auto qp_output = std::make_unique<QpOutput>(GetDofNames(*robot));
   for (int i = 0; i < qp_output->dof_torques().size(); i++) {

automotive/test/maliput_railcar_test.cc

@@ -316,7 +316,7 @@ class MaliputRailcarTest : public ::testing::Test {
     params.set_velocity_limit_kp(8);
     SetParams(params);
 
-    context_->set_time(straight_lane->length() / kForwardSpeed);
+    context_->SetTime(straight_lane->length() / kForwardSpeed);
 
     // Verifies that MaliputRailcar::DoCalcUnrestrictedUpdate() switches to the
     // start of curved lane when it is traveling forward and reaches the end of
@@ -829,7 +829,7 @@ TEST_F(MaliputRailcarTest, DoCalcNextUpdateTimeDragwayWithS) {
 
   // Verifies that the time till reaching the end of the lane is equal to the
   // lane length divided by the vehicle's speed.
-  context_->set_time(0);
+  context_->SetTime(0);
   continuous_state()->set_s(0);
   continuous_state()->set_speed(kSpeed);
   systems::LeafCompositeEventCollection<double> events;
@@ -868,7 +868,7 @@ TEST_F(MaliputRailcarTest, DoCalcNextUpdateTimeDragwayAgainstS) {
   // Verifies that the time till reaching the end of the lane is equal to the
   // lane length divided by the vehicle's speed.
   systems::LeafCompositeEventCollection<double> events;
-  context_->set_time(0);
+  context_->SetTime(0);
   continuous_state()->set_s(lane->length());
   continuous_state()->set_speed(kSpeed);
   double t = dut_->CalcNextUpdateTime(*context_, &events);
@@ -909,7 +909,7 @@ TEST_F(MaliputRailcarTest, DoCalcNextUpdateTimeCurvedRoadWithS) {
 
   // Verifies that the time till reaching the end of the lane is equal to the
   // lane length divided by the vehicle's speed.
-  context_->set_time(0);
+  context_->SetTime(0);
   continuous_state()->set_s(0);
   continuous_state()->set_speed(kSpeed);
   systems::LeafCompositeEventCollection<double> events;
@@ -950,7 +950,7 @@ TEST_F(MaliputRailcarTest, DoCalcNextUpdateTimeCurvedRoadAgainstS) {
 
   // Verifies that the time till reaching the end of the lane is equal to the
   // lane length divided by the vehicle's speed.
-  context_->set_time(0);
+  context_->SetTime(0);
   continuous_state()->set_s(lane->length());
   continuous_state()->set_speed(kSpeed);
   systems::LeafCompositeEventCollection<double> events;

bindings/pydrake/attic/multibody/test/rigid_body_plant_test.py

@@ -226,10 +226,10 @@ def test_drake_visualizer_api(self):
         context = viz.CreateDefaultContext()
         x0 = np.zeros(tree.get_num_positions() + tree.get_num_velocities())
         context.FixInputPort(0, BasicVector(x0))
-        context.set_time(0.)
+        context.SetTime(0.)
         viz.Publish(context)
         # Use a small time period, since it uses realtime playback.
-        context.set_time(0.01)
+        context.SetTime(0.01)
         viz.Publish(context)
         viz.ReplayCachedSimulation()
         # - Check that PublishLoadRobot can be called.

bindings/pydrake/examples/test/compass_gait_test.py

@@ -44,7 +44,7 @@ def test_simulation(self):
         # Create the simulator.
         simulator = Simulator(compass_gait)
         context = simulator.get_mutable_context()
-        context.set_accuracy(1e-8)
+        context.SetAccuracy(1e-8)
 
         # Set the initial state.
         state = context.get_mutable_continuous_state_vector()

bindings/pydrake/examples/test/rimless_wheel_test.py

@@ -38,7 +38,7 @@ def test_simulation(self):
         # Create the simulator.
         simulator = Simulator(rimless_wheel)
         context = simulator.get_mutable_context()
-        context.set_accuracy(1e-8)
+        context.SetAccuracy(1e-8)
 
         # Set the initial state.
         state = context.get_mutable_continuous_state_vector()

bindings/pydrake/systems/BUILD.bazel

@@ -311,6 +311,7 @@ drake_py_unittest(
         ":analysis_py",
         ":framework_py",
         ":primitives_py",
+        "//bindings/pydrake/common/test_utilities",
         "//bindings/pydrake/examples:pendulum_py",
         "//bindings/pydrake/examples:rimless_wheel_py",
     ],

bindings/pydrake/systems/framework_py_semantics.cc

@@ -159,11 +159,31 @@ void DefineFrameworkPySemantics(py::module m) {
             py::arg("index"), py::arg("data"), py_reference_internal,
             doc.Context.FixInputPort.doc_2args_index_data)
         .def("get_time", &Context<T>::get_time, doc.Context.get_time.doc)
-        .def("SetTime", &Context<T>::SetTime, doc.Context.SetTime.doc)
-        .def("set_time", &Context<T>::set_time, "Use SetTime() instead.")
-        .def("SetAccuracy", &Context<T>::SetAccuracy,
+        .def("SetTime", &Context<T>::SetTime, py::arg("time_sec"),
+            doc.Context.SetTime.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
+            },
+            "Use SetTime() instead.")
+        .def("SetAccuracy", &Context<T>::SetAccuracy, py::arg("accuracy"),
             doc.Context.SetAccuracy.doc)
-        .def("set_accuracy", &Context<T>::set_accuracy,
+        .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
+            },
             "Use SetAccuracy() instead.")
         .def("get_accuracy", &Context<T>::get_accuracy,
             doc.Context.get_accuracy.doc)

bindings/pydrake/systems/test/general_test.py

@@ -59,6 +59,7 @@
     PassThrough,
     SignalLogger,
     )
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 
 # TODO(eric.cousineau): The scope of this test file and and `custom_test.py`
 # is poor. Move these tests into `framework_test` and `analysis_test`, and
@@ -253,8 +254,12 @@ 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)
 

examples/bouncing_ball/test/bouncing_ball_test.cc

@@ -165,7 +165,7 @@ TEST_F(BouncingBallTest, Simulate) {
   drake::systems::Simulator<double> simulator(*dut_, std::move(context_));
   simulator.reset_integrator<systems::RungeKutta3Integrator<double>>(*dut_,
       &simulator.get_mutable_context());
-  simulator.get_mutable_context().set_accuracy(accuracy);
+  simulator.get_mutable_context().SetAccuracy(accuracy);
   simulator.get_mutable_integrator()->request_initial_step_size_target(1e-3);
   simulator.get_mutable_integrator()->set_target_accuracy(accuracy);
   simulator.Initialize();

examples/compass_gait/simulate.cc

@@ -76,7 +76,7 @@ int DoMain() {
   state.set_swingdot(-2.0);
 
   simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
-  simulator.get_mutable_context().set_accuracy(1e-4);
+  simulator.get_mutable_context().SetAccuracy(1e-4);
   simulator.AdvanceTo(10);
 
   return 0;

examples/humanoid_controller/test/atlas_command_translator_system_test.cc

@@ -37,7 +37,7 @@ GTEST_TEST(JointLevelControllerTest, AtlasJointLevelControllerTest) {
   auto context = dut->CreateDefaultContext();
   auto output = dut->AllocateOutput();
 
-  context->set_time(3.);
+  context->SetTime(3.);
 
   auto qp_output = std::make_unique<QpOutput>(GetDofNames(*robot));
   for (int i = 0; i < qp_output->dof_torques().size(); i++) {

examples/humanoid_controller/test/humanoid_plan_eval_system_test.cc

@@ -105,7 +105,7 @@ class HumanoidPlanEvalAndQpInverseDynamicsTest : public ::testing::Test {
     diagram_ = builder.Build();
 
     context_ = diagram_->CreateDefaultContext();
-    context_->set_time(0);
+    context_->SetTime(0);
     output_ = diagram_->AllocateOutput();
 
     // Initializes.

examples/humanoid_controller/valkyrie_balancing_demo.cc

@@ -42,7 +42,7 @@ void controller_loop() {
   const AbstractValue& first_msg = loop.WaitForMessage();
   double msg_time =
       loop.get_message_to_time_converter().GetTimeInSeconds(first_msg);
-  loop.get_mutable_context().set_time(msg_time);
+  loop.get_mutable_context().SetTime(msg_time);
 
   // Decodes the message into q and v.
   const bot_core::robot_state_t& raw_msg =

examples/kinova_jaco_arm/jaco_controller.cc

@@ -177,7 +177,7 @@ int DoMain() {
   status_sub->SetDefaultContext(&status_sub_context);
 
   // Explicit initialization.
-  diagram_context.set_time(msg_time);
+  diagram_context.SetTime(msg_time);
   auto& plan_source_context =
       diagram->GetMutableSubsystemContext(*plan_source, &diagram_context);
   plan_source->Initialize(msg_time, q0,

examples/kuka_iiwa_arm/iiwa_controller.cc

@@ -136,7 +136,7 @@ int DoMain() {
   status_sub->SetDefaultContext(&status_sub_context);
 
   // Explicit initialization.
-  diagram_context.set_time(msg_time);
+  diagram_context.SetTime(msg_time);
   auto& plan_interpolator_context =
       diagram->GetMutableSubsystemContext(*plan_interpolator, &diagram_context);
   plan_interpolator->Initialize(msg_time, q0, &plan_interpolator_context);

examples/multibody/acrobot/run_lqr.cc

@@ -168,7 +168,7 @@ int do_main() {
   elbow.set_random_angle_distribution(0.05*gaussian(generator));
 
   for (int i = 0; i < 5; i++) {
-    simulator.get_mutable_context().set_time(0.0);
+    simulator.get_mutable_context().SetTime(0.0);
     simulator.get_system().SetRandomContext(&simulator.get_mutable_context(),
                                             &generator);
 

examples/qp_inverse_dynamics/test/manipulator_joint_space_controller_test.cc

@@ -116,7 +116,7 @@ class ManipulatorJointSpaceControllerTest : public ::testing::Test {
     diagram_ = builder.Build();
 
     context_ = diagram_->CreateDefaultContext();
-    context_->set_time(0);
+    context_->SetTime(0);
     output_ = diagram_->AllocateOutput();
 
     // Initializes.

examples/rimless_wheel/simulate.cc

@@ -88,7 +88,7 @@ int DoMain() {
   state.set_thetadot(FLAGS_initial_angular_velocity);
 
   simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
-  simulator.get_mutable_context().set_accuracy(FLAGS_accuracy);
+  simulator.get_mutable_context().SetAccuracy(FLAGS_accuracy);
   simulator.AdvanceTo(10);
 
   // Check that the state is still inside the expected region (I did not miss

examples/rimless_wheel/test/rimless_wheel_test.cc

@@ -41,7 +41,7 @@ GTEST_TEST(RimlessWheelTest, StepTest) {
 
   systems::Simulator<double> simulator(rw);
   auto& context = simulator.get_mutable_context();
-  context.set_accuracy(1e-8);
+  context.SetAccuracy(1e-8);
 
   RimlessWheelContinuousState<double>& state =
       rw.get_mutable_continuous_state(&context);
@@ -61,7 +61,7 @@ GTEST_TEST(RimlessWheelTest, StepTest) {
   const double step_length = 2 * params.length() * sin(alpha);
 
   // A point on that limit cycle just before a forward step:
-  context.set_time(0.0);
+  context.SetTime(0.0);
   state.set_theta(params.slope() + alpha / 2.0);
   toe = 0.0;
   double_support = false;
@@ -80,7 +80,7 @@ GTEST_TEST(RimlessWheelTest, StepTest) {
   const double threshold = 0.01;
 
   // Walking too fast should lose energy through impact.
-  context.set_time(0.0);
+  context.SetTime(0.0);
   state.set_theta(params.slope() + alpha / 2.0);
   toe = 0.0;
   double_support = false;
@@ -96,7 +96,7 @@ GTEST_TEST(RimlessWheelTest, StepTest) {
   EXPECT_LT(rw.CalcTotalEnergy(context), initial_energy - threshold);
 
   // Walking too slow should gain energy through impact.
-  context.set_time(0.0);
+  context.SetTime(0.0);
   state.set_theta(params.slope() + alpha / 2.0);
   toe = 0.0;
   double_support = false;
@@ -112,7 +112,7 @@ GTEST_TEST(RimlessWheelTest, StepTest) {
   EXPECT_GT(rw.CalcTotalEnergy(context), initial_energy + threshold);
 
   // Rolling uphill should always lose energy.
-  context.set_time(0.0);
+  context.SetTime(0.0);
   // Leaning uphill.
   state.set_theta(params.slope() - alpha / 2.0);
   state.set_thetadot(-4.);
@@ -135,7 +135,7 @@ GTEST_TEST(RimlessWheelTest, FixedPointTest) {
 
   systems::Simulator<double> simulator(rw);
   auto& context = simulator.get_mutable_context();
-  context.set_accuracy(1e-8);
+  context.SetAccuracy(1e-8);
 
   RimlessWheelContinuousState<double>& state =
       rw.get_mutable_continuous_state(&context);
@@ -151,7 +151,7 @@ GTEST_TEST(RimlessWheelTest, FixedPointTest) {
   const double angle_above_touchdown = 1e-5;
 
   // Front foot down.
-  context.set_time(0.0);
+  context.SetTime(0.0);
   state.set_theta(params.slope() + alpha - angle_above_touchdown);
   state.set_thetadot(0.0);
   toe = 0.0;
@@ -162,7 +162,7 @@ GTEST_TEST(RimlessWheelTest, FixedPointTest) {
   EXPECT_EQ(state.thetadot(), 0.0);
 
   // Back foot down.
-  context.set_time(0.0);
+  context.SetTime(0.0);
   state.set_theta(params.slope() - alpha + angle_above_touchdown);
   state.set_thetadot(0.0);
   toe = 0.0;

manipulation/perception/test/pose_smoother_test.cc

@@ -55,7 +55,7 @@ class PoseSmootherTest : public ::testing::Test {
         AbstractValue::Make(Isometry3<double>::Identity()));
     input->set_value(input_pose);
     context_->FixInputPort(0 /* input port ID*/, std::move(input));
-    context_->set_time(input_time);
+    context_->SetTime(input_time);
 
     dut_->CalcUnrestrictedUpdate(*context_, &context_->get_mutable_state());
     dut_->CalcOutput(*context_, output_.get());

multibody/benchmarks/free_body/test/multibody_plant_free_body_test.cc

@@ -238,7 +238,7 @@ void  TestDrakeSolutionForSpecificInitialValue(
   state_drake.SetFromVector(state_initial);
 
   // Ensure the time stored by context is set to 0.0 (initial value).
-  context->set_time(0.0);
+  context->SetTime(0.0);
 
   // Test Drake's calculated values for the time-derivative of the state at
   // time t = 0 versus the exact (closed-form) solution.

multibody/plant/test/joint_limits_test.cc

@@ -107,7 +107,7 @@ GTEST_TEST(JointLimitsTest, PrismaticJointConvergenceTest) {
     context.FixInputPort(
       plant.get_actuation_input_port().get_index(),
       Vector1<double>::Constant(10.0));
-    context.set_time(0.0);
+    context.SetTime(0.0);
     simulator.AdvanceTo(simulation_time);
 
     // Verify we are at rest near the upper limit.
@@ -183,7 +183,7 @@ GTEST_TEST(JointLimitsTest, RevoluteJoint) {
     context.FixInputPort(
       plant.get_actuation_input_port().get_index(),
       Vector1<double>::Constant(-1.5));
-    context.set_time(0.0);
+    context.SetTime(0.0);
     simulator.AdvanceTo(simulation_time);
 
     // Verify we are at rest near the lower limit.
@@ -284,7 +284,7 @@ GTEST_TEST(JointLimitsTest, KukaArm) {
     plant.get_actuation_input_port().get_index(),
     VectorX<double>::Constant(nq, -0.4));
   plant.SetDefaultContext(&context);
-  context.set_time(0.0);
+  context.SetTime(0.0);
   simulator.AdvanceTo(simulation_time);
   for (int joint_number = 1; joint_number <= nq; ++joint_number) {
     const std::string joint_name = "iiwa_joint_" + std::to_string(joint_number);