Deprecate ComputeBasisFromAxis() in C++ and Python. (RobotLocomotion#…

…15154) * Deprecate MakeOrthonormalBasis() in C++ and Python. * Remove the part of the deprecation message that is mostly auto-generated.
beamiter · Jun 15, 2021 · 6c5a106 · 6c5a106
1 parent 8e0dc4c
commit 6c5a106
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Showing 5 changed files with 23 additions and 9 deletions.
diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
@@ -157,6 +157,7 @@ drake_pybind_library(
         "//bindings/pydrake:symbolic_types_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
+        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:eigen_pybind",
         "//bindings/pydrake/common:type_pack",
         "//bindings/pydrake/common:value_pybind",

diff --git a/bindings/pydrake/math_py.cc b/bindings/pydrake/math_py.cc
@@ -8,6 +8,7 @@
 #include "drake/bindings/pydrake/autodiff_types_pybind.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/eigen_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"
@@ -319,12 +320,16 @@ void DoScalarIndependentDefinitions(py::module m) {
   // TODO(eric.cousineau): Bind remaining classes for all available scalar
   // types.
   using T = double;
-  m.def(
-      "ComputeBasisFromAxis",
-      [](int axis_index, const Vector3<T>& axis) {
-        return ComputeBasisFromAxis(axis_index, axis);
-      },
-      py::arg("axis_index"), py::arg("axis_W"), doc.ComputeBasisFromAxis.doc);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  m.def("ComputeBasisFromAxis",
+      WrapDeprecated(doc.ComputeBasisFromAxis.doc_deprecated,
+          [](int axis_index, const Vector3<T>& axis) {
+            return ComputeBasisFromAxis(axis_index, axis);
+          }),
+      py::arg("axis_index"), py::arg("axis_W"),
+      doc.ComputeBasisFromAxis.doc_deprecated);
+#pragma GCC diagnostic pop  // pop -Wdeprecated-declarations
   py::class_<BarycentricMesh<T>>(m, "BarycentricMesh", doc.BarycentricMesh.doc)
       .def(py::init<BarycentricMesh<T>::MeshGrid>(),
           doc.BarycentricMesh.ctor.doc)

diff --git a/bindings/pydrake/test/math_test.py b/bindings/pydrake/test/math_test.py
@@ -6,6 +6,7 @@
 from pydrake.common.value import Value
 from pydrake.autodiffutils import AutoDiffXd
 from pydrake.symbolic import Expression
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 import pydrake.common.test_utilities.numpy_compare as numpy_compare
 from pydrake.common.test_utilities.pickle_compare import assert_pickle
 
@@ -399,10 +400,12 @@ def test_wrap_to(self, T):
         if T != Expression:
             self.assertEqual(value, T(.5))
 
+    # TODO(2021-10-01) Remove with completion of deprecation.
     def test_orthonormal_basis(self):
-        R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0])
-        self.assertAlmostEqual(np.linalg.det(R), 1.0)
-        self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))
+        with catch_drake_warnings(expected_count=1):
+            R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0])
+            self.assertAlmostEqual(np.linalg.det(R), 1.0)
+            self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))
 
     def test_random_rotations(self):
         g = RandomGenerator()

diff --git a/math/orthonormal_basis.h b/math/orthonormal_basis.h
@@ -2,6 +2,7 @@
 
 #include <limits>
 
+#include "drake/common/drake_deprecated.h"
 #include "drake/common/eigen_types.h"
 
 namespace drake {
@@ -22,6 +23,7 @@ namespace math {
 /// @throws std::logic_error if the norm of @p axis_W is within 1e-10 to zero or
 ///         @p axis_index does not lie in the range [0,2].
 template <class T>
+DRAKE_DEPRECATED("2021-10-01", "Use RotationMatrix::MakeFromOneVector().")
 Matrix3<T> ComputeBasisFromAxis(int axis_index, const Vector3<T>& axis_W) {
   // Verify that the correct axis is given.
   if (axis_index < 0 || axis_index > 2)

diff --git a/math/test/orthonormal_basis_test.cc b/math/test/orthonormal_basis_test.cc
@@ -12,6 +12,8 @@ namespace drake {
 namespace math {
 namespace {
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 // Checks that the axes are set correctly.
 void CheckBasisOrthonomality(const Matrix3<double>& R) {
   const double tol = 10 * std::numeric_limits<double>::epsilon();
@@ -59,6 +61,7 @@ GTEST_TEST(ComputeBasisFromAxisTest, RightHandOrthogonal) {
     CheckBasis(i, z_axis);
   }
 }
+#pragma GCC diagnostic pop  // pop -Wdeprecated-declarations
 
 }  // namespace
 }  // namespace math