Remove usage of stx in favor of C++17 std::optional and std::variant (R…

…obotLocomotion#12246)
YinjieLin · Oct 28, 2019 · b563c59 · b563c59
1 parent 3c9ef6d
commit b563c59
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Showing 31 changed files with 22 additions and 273 deletions.
diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
@@ -129,7 +129,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
         "//bindings/pydrake/common:type_pack",
         "//bindings/pydrake/common:value_pybind",
         "//lcmtypes:viewer",
@@ -148,7 +147,6 @@ drake_pybind_library(
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
     ],
     cc_srcs = ["lcm_py.cc"],
     package_info = PACKAGE_INFO,

diff --git a/bindings/pydrake/common/BUILD.bazel b/bindings/pydrake/common/BUILD.bazel
@@ -242,6 +242,11 @@ drake_cc_library(
     name = "drake_optional_pybind",
     hdrs = ["drake_optional_pybind.h"],
     declare_installed_headers = 0,
+    deprecation = " ".join([
+        "//bindings/pydrake/common:drake_optional_pybind is deprecated and",
+        "will be removed on 2020-02-01.",
+    ]),
+    tags = ["manual"],
     visibility = ["//visibility:public"],
     deps = ["//:drake_shared_library"],
 )
@@ -250,6 +255,11 @@ drake_cc_library(
     name = "drake_variant_pybind",
     hdrs = ["drake_variant_pybind.h"],
     declare_installed_headers = 0,
+    deprecation = " ".join([
+        "//bindings/pydrake/common:drake_variant_pybind is deprecated and",
+        "will be removed on 2020-02-01.",
+    ]),
+    tags = ["manual"],
     visibility = ["//visibility:public"],
     deps = ["//:drake_shared_library"],
 )
@@ -468,14 +478,6 @@ drake_pybind_cc_googletest(
     py_deps = [":cpp_template_py"],
 )
 
-drake_pybind_cc_googletest(
-    name = "drake_variant_pybind_test",
-    cc_deps = [
-        ":drake_variant_pybind",
-        "//bindings/pydrake:test_util_pybind",
-    ],
-)
-
 drake_pybind_library(
     name = "eigen_geometry_test_util_py",
     testonly = 1,

diff --git a/bindings/pydrake/common/drake_optional_pybind.h b/bindings/pydrake/common/drake_optional_pybind.h
@@ -2,27 +2,4 @@
 
 #include "pybind11/stl.h"
 
-// TODO(eric.cousineau): Merge this with `pydrake_pybind` when it is available
-// (#7829).
 #include "drake/common/drake_optional.h"
-
-#ifdef STX_NO_STD_OPTIONAL
-
-namespace pybind11 {
-namespace detail {
-
-// Ensure that we expose a type_caster for `stx::optional`.
-// @see pybind11/stl.h, `optional_caster`.
-
-template <typename T>
-struct type_caster<stx::optional<T>>
-    : public optional_caster<stx::optional<T>> {};
-
-template <>
-struct type_caster<stx::nullopt_t>  // BR
-    : public void_caster<stx::nullopt_t> {};
-
-}  // namespace detail
-}  // namespace pybind11
-
-#endif  // STX_NO_STD_OPTIONAL
diff --git a/bindings/pydrake/common/drake_variant_pybind.h b/bindings/pydrake/common/drake_variant_pybind.h
@@ -3,18 +3,3 @@
 #include "pybind11/stl.h"
 
 #include "drake/common/drake_variant.h"
-
-namespace pybind11 {
-namespace detail {
-
-// Ensure that we expose a type_caster for `stx::variant`.
-// @see pybind11/stl.h, `variant_caster`.
-
-#ifdef STX_NO_STD_VARIANT
-template <typename... Types>
-struct type_caster<stx::variant<Types...>>
-    : public variant_caster<stx::variant<Types...>> {};
-#endif
-
-}  // namespace detail
-}  // namespace pybind11
diff --git a/bindings/pydrake/common/test/drake_variant_pybind_test.cc b/bindings/pydrake/common/test/drake_variant_pybind_test.cc
diff --git a/bindings/pydrake/examples/BUILD.bazel b/bindings/pydrake/examples/BUILD.bazel
@@ -62,7 +62,6 @@ drake_pybind_library(
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
     ],
     cc_srcs = ["manipulation_station_py.cc"],
     package_info = PACKAGE_INFO,

diff --git a/bindings/pydrake/examples/manipulation_station_py.cc b/bindings/pydrake/examples/manipulation_station_py.cc
@@ -3,7 +3,6 @@
 #include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/examples/manipulation_station/manipulation_station.h"

diff --git a/bindings/pydrake/geometry_py.cc b/bindings/pydrake/geometry_py.cc
@@ -1,11 +1,11 @@
 #include "pybind11/eigen.h"
 #include "pybind11/operators.h"
 #include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/bindings/pydrake/lcm_py.cc b/bindings/pydrake/lcm_py.cc
@@ -5,7 +5,6 @@
 #include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/lcm/drake_lcm.h"

diff --git a/bindings/pydrake/manipulation/BUILD.bazel b/bindings/pydrake/manipulation/BUILD.bazel
@@ -36,7 +36,6 @@ drake_pybind_library(
     name = "planner_py",
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
         "//bindings/pydrake/common:eigen_pybind",
     ],
     cc_srcs = ["planner_py.cc"],

diff --git a/bindings/pydrake/manipulation/planner_py.cc b/bindings/pydrake/manipulation/planner_py.cc
@@ -1,7 +1,7 @@
 #include "pybind11/eigen.h"
 #include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
 
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/manipulation/planner/differential_inverse_kinematics.h"

diff --git a/bindings/pydrake/multibody/BUILD.bazel b/bindings/pydrake/multibody/BUILD.bazel
@@ -69,7 +69,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
         "//bindings/pydrake/common:eigen_geometry_pybind",
         "//bindings/pydrake/common:type_pack",
         "//bindings/pydrake/common:type_safe_index_pybind",
@@ -91,7 +90,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
         "//bindings/pydrake/common:eigen_geometry_pybind",
         "//bindings/pydrake/common:type_pack",
         "//bindings/pydrake/common:type_safe_index_pybind",

diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -1,11 +1,11 @@
 #include "pybind11/eigen.h"
 #include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
 #include "pybind11/stl_bind.h"
 
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/common/eigen_geometry_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"

diff --git a/bindings/pydrake/multibody/tree_py.cc b/bindings/pydrake/multibody/tree_py.cc
@@ -1,11 +1,11 @@
 #include "pybind11/eigen.h"
 #include "pybind11/eval.h"
 #include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/type_safe_index_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/bindings/pydrake/solvers/BUILD.bazel b/bindings/pydrake/solvers/BUILD.bazel
@@ -54,7 +54,6 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake:symbolic_types_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
     ],
     cc_srcs = ["mathematicalprogram_py.cc"],
     package_info = PACKAGE_INFO,

diff --git a/bindings/pydrake/solvers/mathematicalprogram_py.cc b/bindings/pydrake/solvers/mathematicalprogram_py.cc
@@ -7,7 +7,6 @@
 #include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/autodiff_types_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/bindings/pydrake/symbolic_types_pybind.h"

diff --git a/bindings/pydrake/systems/BUILD.bazel b/bindings/pydrake/systems/BUILD.bazel
@@ -48,8 +48,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
-        "//bindings/pydrake/common:drake_variant_pybind",
         "//bindings/pydrake/common:eigen_pybind",
         "//bindings/pydrake/common:type_safe_index_pybind",
         "//bindings/pydrake/common:value_pybind",
@@ -89,8 +87,6 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
-        "//bindings/pydrake/common:drake_optional_pybind",
-        "//bindings/pydrake/common:drake_variant_pybind",
     ],
     cc_srcs = ["primitives_py.cc"],
     package_info = PACKAGE_INFO,
@@ -179,7 +175,6 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake:symbolic_types_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:drake_variant_pybind",
     ],
     cc_srcs = ["trajectory_optimization_py.cc"],
     package_info = PACKAGE_INFO,

diff --git a/bindings/pydrake/systems/framework_py_semantics.cc b/bindings/pydrake/systems/framework_py_semantics.cc
@@ -7,8 +7,6 @@
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
-#include "drake/bindings/pydrake/common/drake_variant_pybind.h"
 #include "drake/bindings/pydrake/common/eigen_pybind.h"
 #include "drake/bindings/pydrake/common/type_safe_index_pybind.h"
 #include "drake/bindings/pydrake/common/wrap_pybind.h"

diff --git a/bindings/pydrake/systems/framework_py_systems.cc b/bindings/pydrake/systems/framework_py_systems.cc
@@ -9,8 +9,6 @@
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
-#include "drake/bindings/pydrake/common/drake_variant_pybind.h"
 #include "drake/bindings/pydrake/common/eigen_pybind.h"
 #include "drake/bindings/pydrake/common/wrap_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/bindings/pydrake/systems/primitives_py.cc b/bindings/pydrake/systems/primitives_py.cc
@@ -1,10 +1,9 @@
 #include "pybind11/eigen.h"
 #include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
-#include "drake/bindings/pydrake/common/drake_optional_pybind.h"
-#include "drake/bindings/pydrake/common/drake_variant_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/systems/primitives/adder.h"

diff --git a/bindings/pydrake/systems/trajectory_optimization_py.cc b/bindings/pydrake/systems/trajectory_optimization_py.cc
@@ -4,7 +4,6 @@
 #include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
-#include "drake/bindings/pydrake/common/drake_variant_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/bindings/pydrake/symbolic_types_pybind.h"

diff --git a/common/BUILD.bazel b/common/BUILD.bazel
@@ -84,7 +84,6 @@ drake_cc_library(
         "@eigen",
         "@fmt",
         "@spdlog",
-        "@stx",
     ],
 )
-Original file line number
+Diff line change
@@ Expand Up / @@ -84,7 +84,6 @@ drake_cc_library( @@
             "@eigen",
             "@fmt",
             "@spdlog",
-            "@stx",
         ],
     )
@@ Expand Down @@