Deprecates default ctor with no arguments. Argument time_step is now …

…required. (RobotLocomotion#12525)
YinjieLin · Jan 4, 2020 · bc83ee2 · bc83ee2
1 parent 2bc3a90
commit bc83ee2
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Showing 43 changed files with 168 additions and 111 deletions.
diff --git a/bindings/pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.py b/bindings/pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.py
@@ -54,7 +54,7 @@ def main():
 
     # Assemble the Pendulum plant.
     builder = DiagramBuilder()
-    pendulum = builder.AddSystem(MultibodyPlant())
+    pendulum = builder.AddSystem(MultibodyPlant(0.0))
     file_name = FindResourceOrThrow(
         "drake/examples/pendulum/Pendulum.urdf")
     Parser(pendulum).AddModelFromFile(file_name)

diff --git a/bindings/pydrake/manipulation/test/planner_test.py b/bindings/pydrake/manipulation/test/planner_test.py
@@ -64,7 +64,7 @@ def test_api(self):
     def test_mbp_overloads(self):
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
-        plant = MultibodyPlant()
+        plant = MultibodyPlant(0.0)
         Parser(plant).AddModelFromFile(file_name)
         plant.Finalize()
 

diff --git a/bindings/pydrake/manipulation/test/simple_ui_test.py b/bindings/pydrake/manipulation/test/simple_ui_test.py
@@ -21,7 +21,7 @@ def test_joint_slider(self):
         # Simply test to make sure that the UI loads and produces the output.
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
-        plant = MultibodyPlant()
+        plant = MultibodyPlant(0.0)
         Parser(plant).AddModelFromFile(file_name)
         plant.Finalize()
 

diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -148,8 +148,13 @@ void DoScalarDependentDefinitions(py::module m, T) {
         m, "MultibodyPlant", param, cls_doc.doc);
     // N.B. These are defined as they appear in the class declaration.
     // Forwarded methods from `MultibodyTree`.
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+    cls.def(py_init_deprecated<Class>(cls_doc.ctor.doc_deprecated),
+        cls_doc.ctor.doc_deprecated);
+#pragma GCC diagnostic pop
     cls  // BR
-        .def(py::init<double>(), py::arg("time_step") = 0.)
+        .def(py::init<double>(), py::arg("time_step"), cls_doc.ctor.doc)
         .def("num_bodies", &Class::num_bodies, cls_doc.num_bodies.doc)
         .def("num_joints", &Class::num_joints, cls_doc.num_joints.doc)
         .def("num_actuators", &Class::num_actuators, cls_doc.num_actuators.doc)

diff --git a/bindings/pydrake/multibody/test/plant_test.py b/bindings/pydrake/multibody/test/plant_test.py
@@ -3,6 +3,7 @@
 import unittest
 
 import numpy as np
+import warnings
 
 from pydrake.autodiffutils import AutoDiffXd
 from pydrake.symbolic import Expression
@@ -136,6 +137,10 @@ def assert_sane(self, x, nonzero=True):
         if nonzero:
             numpy_compare.assert_float_not_equal(x, 0.)
 
+    def test_deprecated_zero_argument_constructor(self):
+        with catch_drake_warnings(expected_count=1):
+            MultibodyPlant_[float]()
+
     @numpy_compare.check_nonsymbolic_types
     def test_multibody_plant_construction_api(self, T):
         # SceneGraph does not support `Expression` type.
@@ -369,7 +374,7 @@ def test_multibody_force_element(self, T):
         RevoluteSpring = RevoluteSpring_[T]
         SpatialInertia = SpatialInertia_[float]
 
-        plant = MultibodyPlant()
+        plant = MultibodyPlant(0.0)
         spatial_inertia = SpatialInertia()
         body_a = plant.AddRigidBody(name="body_a",
                                     M_BBo_B=spatial_inertia)
@@ -405,15 +410,15 @@ def test_multibody_force_element(self, T):
     def test_multibody_gravity_default(self, T):
         MultibodyPlant = MultibodyPlant_[T]
         UniformGravityFieldElement = UniformGravityFieldElement_[T]
-        plant = MultibodyPlant()
+        plant = MultibodyPlant(0.0)
         with self.assertRaises(RuntimeError) as cm:
             plant.AddForceElement(UniformGravityFieldElement())
 
     @numpy_compare.check_all_types
     def test_multibody_tree_kinematics(self, T):
         RigidTransform = RigidTransform_[T]
         SpatialVelocity = SpatialVelocity_[T]
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
 
         file_name = FindResourceOrThrow(
             "drake/examples/double_pendulum/models/double_pendulum.sdf")
@@ -498,7 +503,7 @@ def test_multibody_tree_kinematics(self, T):
     def test_multibody_state_access(self, T):
         MultibodyPlant = MultibodyPlant_[T]
 
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
@@ -586,7 +591,7 @@ def test_model_instance_port_access(self, T):
         MultibodyPlant = MultibodyPlant_[T]
         InputPort = InputPort_[T]
         OutputPort = OutputPort_[T]
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         # Create a MultibodyPlant with a kuka arm and a schunk gripper.
         # the arm is welded to the world, the gripper is welded to the
         # arm's end effector.
@@ -671,7 +676,7 @@ def check_applied_force_input_ports(self, T):
 
         builder_f = DiagramBuilder_[float]()
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
-        plant_f = builder_f.AddSystem(MultibodyPlant_[float]())
+        plant_f = builder_f.AddSystem(MultibodyPlant_[float](0.0))
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/free_body/uniform_solid_cylinder.urdf")
         Parser(plant_f).AddModelFromFile(file_name)
@@ -721,7 +726,7 @@ def test_model_instance_state_access(self, T):
             "iiwa_description/sdf/iiwa14_no_collision.sdf")
 
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         parser = Parser(plant_f)
 
         iiwa_model = parser.AddModelFromFile(
@@ -974,7 +979,7 @@ def test_map_qdot_to_v_and_back(self, T):
         RigidTransform = RigidTransform_[T]
         RollPitchYaw = RollPitchYaw_[T]
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         iiwa_sdf_path = FindResourceOrThrow(
             "drake/manipulation/models/"
             "iiwa_description/sdf/iiwa14_no_collision.sdf")
@@ -1017,7 +1022,7 @@ def test_multibody_add_joint(self, T):
         # Python.
         num_joints = 2
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         parser = Parser(plant_f)
         instances = []
         for i in range(num_joints + 1):
@@ -1063,7 +1068,7 @@ def test_multibody_add_frame(self, T):
 
         Frame = Frame_[T]
 
-        plant = MultibodyPlant()
+        plant = MultibodyPlant(0.0)
         frame = plant.AddFrame(frame=FixedOffsetFrame(
             name="frame", P=plant.world_frame(),
             X_PF=RigidTransform_[float].Identity(), model_instance=None))
@@ -1081,7 +1086,7 @@ def test_multibody_dynamics(self, T):
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
-        plant_f = MultibodyPlant_[float]()
+        plant_f = MultibodyPlant_[float](0.0)
         Parser(plant_f).AddModelFromFile(file_name)
         # Getting ready for when we set foot on Mars :-).
         gravity_vector = np.array([0.0, 0.0, -3.71])
@@ -1192,7 +1197,7 @@ def test_contact_results_to_lcm(self):
         # ContactResultsToLcmSystem
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
-        plant = MultibodyPlant_[float]()
+        plant = MultibodyPlant_[float](0.0)
         Parser(plant).AddModelFromFile(file_name)
         plant.Finalize()
         contact_results_to_lcm = ContactResultsToLcmSystem(plant)

diff --git a/bindings/pydrake/systems/drawing_graphviz_example.py b/bindings/pydrake/systems/drawing_graphviz_example.py
@@ -12,7 +12,7 @@
     "drake/examples/multibody/cart_pole/cart_pole.sdf")
 builder = DiagramBuilder()
 scene_graph = builder.AddSystem(SceneGraph())
-cart_pole = builder.AddSystem(MultibodyPlant())
+cart_pole = builder.AddSystem(MultibodyPlant(0.0))
 cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
 Parser(plant=cart_pole).AddModelFromFile(file_name)
 

diff --git a/examples/kinova_jaco_arm/move_jaco_ee.cc b/examples/kinova_jaco_arm/move_jaco_ee.cc
@@ -166,7 +166,7 @@ class MoveDemoRunner {
 
   ::lcm::LCM lcm_;
   std::string urdf_;
-  MultibodyPlant<double> plant_;
+  MultibodyPlant<double> plant_{0.0};
   multibody::ModelInstanceIndex instance_;
   std::unique_ptr<systems::Context<double>> context_;
   int status_count_{0};

diff --git a/examples/manipulation_station/manipulation_station.cc b/examples/manipulation_station/manipulation_station.cc
@@ -54,7 +54,7 @@ namespace internal {
 SpatialInertia<double> MakeCompositeGripperInertia(
     const std::string& wsg_sdf_path,
     const std::string& gripper_body_frame_name) {
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(wsg_sdf_path);
   plant.Finalize();
@@ -156,7 +156,10 @@ template <typename T>
 ManipulationStation<T>::ManipulationStation(double time_step)
     : owned_plant_(std::make_unique<MultibodyPlant<T>>(time_step)),
       owned_scene_graph_(std::make_unique<SceneGraph<T>>()),
-      owned_controller_plant_(std::make_unique<MultibodyPlant<T>>()) {
+      // Given the controller does not compute accelerations, it is irrelevant
+      // whether the plant is continuous or discrete. We arbitrarily make it
+      // continuous.
+      owned_controller_plant_(std::make_unique<MultibodyPlant<T>>(0.0)) {
   // This class holds the unique_ptrs explicitly for plant and scene_graph
   // until Finalize() is called (when they are moved into the Diagram). Grab
   // the raw pointers, which should stay valid for the lifetime of the Diagram.

diff --git a/examples/multibody/acrobot/run_lqr.cc b/examples/multibody/acrobot/run_lqr.cc
@@ -56,7 +56,7 @@ std::unique_ptr<systems::AffineSystem<double>> MakeBalancingLQRController(
   // Therefore we create a new model that meets this requirement. (a model
   // created along with a SceneGraph for simulation would also have input ports
   // to interact with that SceneGraph).
-  MultibodyPlant<double> acrobot;
+  MultibodyPlant<double> acrobot(0.0);
   Parser parser(&acrobot);
   parser.AddModelFromFile(full_name);
   // We are done defining the model.

diff --git a/examples/multibody/cart_pole/test/cart_pole_test.cc b/examples/multibody/cart_pole/test/cart_pole_test.cc
@@ -103,7 +103,7 @@ class CartPoleTest : public ::testing::Test {
   }
 
  protected:
-  MultibodyPlant<double> cart_pole_;
+  MultibodyPlant<double> cart_pole_{0.0};
   const PrismaticJoint<double>* cart_slider_{nullptr};
   const RevoluteJoint<double>* pole_pin_{nullptr};
   std::unique_ptr<Context<double>> context_;

diff --git a/examples/pendulum/print_symbolic_dynamics.cc b/examples/pendulum/print_symbolic_dynamics.cc
@@ -42,7 +42,7 @@ VectorX<Expression> PendulumPlantDynamics() {
 VectorX<Expression> MultibodyPlantDynamics() {
   // Load the Pendulum.urdf into a symbolic MultibodyPlant.
   const char* const urdf_path = "drake/examples/pendulum/Pendulum.urdf";
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   Parser parser(&plant);
   parser.AddModelFromFile(FindResourceOrThrow(urdf_path));
   plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("base"));

diff --git a/examples/planar_gripper/run_planar_gripper_trajectory_publisher.cc b/examples/planar_gripper/run_planar_gripper_trajectory_publisher.cc
@@ -56,7 +56,7 @@ int DoMain() {
   // (only) to extract joint velocity ordering.
   const std::string full_name =
       FindResourceOrThrow("drake/examples/planar_gripper/planar_gripper.sdf");
-  MultibodyPlant<double> control_plant;
+  MultibodyPlant<double> control_plant(0.0);
   multibody::Parser(&control_plant).AddModelFromFile(full_name);
   WeldGripperFrames<double>(&control_plant);
   control_plant.Finalize();

diff --git a/examples/planar_gripper/test/planar_gripper_common_test.cc b/examples/planar_gripper/test/planar_gripper_common_test.cc
@@ -33,7 +33,7 @@ GTEST_TEST(ReorderKeyframesTest, Test) {
   // Create the plant which defines the ordering.
   const std::string full_name =
       FindResourceOrThrow("drake/examples/planar_gripper/planar_gripper.sdf");
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   multibody::Parser(&plant).AddModelFromFile(full_name, "gripper");
   WeldGripperFrames(&plant);
   plant.Finalize();
@@ -84,7 +84,7 @@ GTEST_TEST(ReorderKeyframesTest, Test) {
 
   // Test throw when plant positions don't match number of expected planar
   // gripper joints.
-  MultibodyPlant<double> bad_plant;
+  MultibodyPlant<double> bad_plant(0.0);
   multibody::Parser(&bad_plant).AddModelFromFile(full_name, "gripper");
   WeldGripperFrames(&bad_plant);
   const std::string extra_model_name =

diff --git a/examples/quadrotor/quadrotor_geometry.cc b/examples/quadrotor/quadrotor_geometry.cc
@@ -41,7 +41,7 @@ QuadrotorGeometry::QuadrotorGeometry(
   // Use (temporary) MultibodyPlant to parse the urdf and setup the
   // scene_graph.
   // TODO(SeanCurtis-TRI): Update this on resolution of #10775.
-  multibody::MultibodyPlant<double> mbp;
+  multibody::MultibodyPlant<double> mbp(0.0);
   multibody::Parser parser(&mbp, scene_graph);
 
   auto model_id = parser.AddModelFromFile(

diff --git a/manipulation/models/allegro_hand_description/test/parse_test.cc b/manipulation/models/allegro_hand_description/test/parse_test.cc
@@ -26,7 +26,7 @@ TEST_P(ParseTest, Quantities) {
       "drake/manipulation/models/allegro_hand_description/{}/"
       "allegro_hand_description_left.{}", file_extension, file_extension));
 
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   Parser parser(&plant);
   const ModelInstanceIndex right_hand_index =
       parser.AddModelFromFile(path_right);

diff --git a/manipulation/models/iiwa_description/urdf/test/dual_iiwa14_polytope_collision_test.cc b/manipulation/models/iiwa_description/urdf/test/dual_iiwa14_polytope_collision_test.cc
@@ -16,7 +16,7 @@ GTEST_TEST(DualIiwa14PolytopeCollisionTest, TestLoadTree) {
       "drake/manipulation/models/iiwa_description/urdf/"
       "dual_iiwa14_polytope_collision.urdf"));
 
-  multibody::MultibodyPlant<double> plant;
+  multibody::MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(kPath);
   plant.Finalize();

diff --git a/manipulation/models/jaco_description/urdf/test/jaco_arm_test.cc b/manipulation/models/jaco_description/urdf/test/jaco_arm_test.cc
@@ -18,7 +18,7 @@ GTEST_TEST(JacoArmTest, TestLoad6DofTree) {
       "drake/manipulation/models/jaco_description/urdf/"
       "j2n6s300.urdf"));
 
-  multibody::MultibodyPlant<double> plant;
+  multibody::MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(kPath);
 
@@ -41,7 +41,7 @@ GTEST_TEST(JacoArmTest, TestLoad7DofTree) {
       "drake/manipulation/models/jaco_description/urdf/"
       "j2s7s300.urdf"));
 
-  multibody::MultibodyPlant<double> plant;
+  multibody::MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(kPath);
 

diff --git a/manipulation/models/wsg_50_description/urdf/test/wsg50_mesh_collision_test.cc b/manipulation/models/wsg_50_description/urdf/test/wsg50_mesh_collision_test.cc
@@ -17,7 +17,7 @@ GTEST_TEST(Wsg50DescriptionTest, TestMeshCollisionModelLoadTree) {
       "drake/manipulation/models/wsg_50_description/urdf/"
       "wsg_50_mesh_collision.urdf"));
 
-  multibody::MultibodyPlant<double> plant;
+  multibody::MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(kPath);
   plant.Finalize();

diff --git a/manipulation/planner/robot_plan_interpolator.h b/manipulation/planner/robot_plan_interpolator.h
@@ -101,7 +101,7 @@ class RobotPlanInterpolator : public systems::LeafSystem<double> {
   const int plan_input_port_{};
   int state_output_port_{-1};
   int acceleration_output_port_{-1};
-  multibody::MultibodyPlant<double> plant_;
+  multibody::MultibodyPlant<double> plant_{0.0};
   const InterpolatorType interp_type_;
 };
 

diff --git a/manipulation/schunk_wsg/test/schunk_wsg_constants_test.cc b/manipulation/schunk_wsg/test/schunk_wsg_constants_test.cc
@@ -14,7 +14,7 @@ namespace {
 // Test that the constants defined in schunk_wsg_constants.h are
 // correct wrt `models/schunk_wsg_50.sdf`.
 GTEST_TEST(SchunkWsgConstantTest, ConstantTest) {
-  multibody::MultibodyPlant<double> plant;
+  multibody::MultibodyPlant<double> plant(0.0);
   multibody::Parser parser(&plant);
   parser.AddModelFromFile(FindResourceOrThrow(
       "drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50.sdf"));

diff --git a/manipulation/util/geometry_inspector.py b/manipulation/util/geometry_inspector.py
@@ -93,7 +93,7 @@ def main():
     scene_graph = builder.AddSystem(SceneGraph())
 
     # Construct a MultibodyPlant.
-    plant = MultibodyPlant()
+    plant = MultibodyPlant(0.0)
     plant.RegisterAsSourceForSceneGraph(scene_graph)
 
     # Create the parser.

diff --git a/manipulation/util/show_model.py b/manipulation/util/show_model.py
@@ -55,7 +55,7 @@ def main():
 
     # Construct Plant + SceneGraph.
     builder = DiagramBuilder()
-    plant = builder.AddSystem(MultibodyPlant())
+    plant = builder.AddSystem(MultibodyPlant(0.0))
     scene_graph = builder.AddSystem(SceneGraph())
     plant.RegisterAsSourceForSceneGraph(scene_graph)
     builder.Connect(

diff --git a/multibody/benchmarks/acrobot/make_acrobot_plant.cc b/multibody/benchmarks/acrobot/make_acrobot_plant.cc
@@ -20,7 +20,7 @@ using drake::math::RigidTransformd;
 std::unique_ptr<MultibodyPlant<double>>
 MakeAcrobotPlant(const AcrobotParameters& params, bool finalize,
                  SceneGraph<double>* scene_graph) {
-  auto plant = std::make_unique<MultibodyPlant<double>>();
+  auto plant = std::make_unique<MultibodyPlant<double>>(0.0);
 
   // COM's positions in each link (L1/L2) frame:
   // Frame L1's origin is located at the shoulder outboard frame.

diff --git a/multibody/benchmarks/pendulum/make_pendulum_plant.cc b/multibody/benchmarks/pendulum/make_pendulum_plant.cc
@@ -19,7 +19,7 @@ using geometry::Sphere;
 std::unique_ptr<MultibodyPlant<double>>
 MakePendulumPlant(const PendulumParameters& params,
                   SceneGraph<double>* scene_graph) {
-  auto plant = std::make_unique<MultibodyPlant<double>>();
+  auto plant = std::make_unique<MultibodyPlant<double>>(0.0);
 
   // Position of the com of the pendulum's body (in this case a point mass) in
   // the body's frame. The body's frame's origin Bo is defined to be at the

diff --git a/multibody/hydroelastics/test/hydroelastic_engine_test.cc b/multibody/hydroelastics/test/hydroelastic_engine_test.cc
@@ -50,7 +50,7 @@ GeometryId AddRigidBody(MultibodyPlant<double>* plant,
 }
 
 GTEST_TEST(HydroelasticEngine, CombineSoftAndRigidMaterialProperties) {
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   SceneGraph<double> scene_graph;
   plant.RegisterAsSourceForSceneGraph(&scene_graph);
 
@@ -74,7 +74,7 @@ GTEST_TEST(HydroelasticEngine, CombineSoftAndRigidMaterialProperties) {
 }
 
 GTEST_TEST(HydroelasticEngine, CombineSoftAndSoftMaterialProperties) {
-  MultibodyPlant<double> plant;
+  MultibodyPlant<double> plant(0.0);
   SceneGraph<double> scene_graph;
   plant.RegisterAsSourceForSceneGraph(&scene_graph);
 

diff --git a/multibody/parsing/test/common_parser_test.cc b/multibody/parsing/test/common_parser_test.cc
@@ -43,7 +43,7 @@ class MultibodyPlantLinkTests :
   }
 
  protected:
-  MultibodyPlant<double> plant_;
+  MultibodyPlant<double> plant_{0.0};
   geometry::SceneGraph<double> scene_graph_;
   const std::string base_name_{"drake/multibody/parsing/test/"
         "links_with_visuals_and_collisions"};