Remove support for C++14 and require C++17 (RobotLocomotion#12240)

Also update pycps for C++17 support.

.clang-format

@@ -30,8 +30,8 @@ IncludeCategories:
   # C system headers.
   - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
     Priority: 20
-  # C++ system headers (as of C++14).
-  - Regex:    '^[<"](algorithm|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|mutex|new|numeric|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|vector)[">]$'
+  # C++ system headers (as of C++17).
+  - Regex:    '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
     Priority: 30
   # Other libraries' h files (with angles).
   - Regex:    '^<'

CMakeLists.txt

@@ -103,7 +103,7 @@ endif()
 
 # The minimum compiler versions should match those listed in both
 # doc/developers.rst and tools/workspace/cc/repository.bzl.
-set(MINIMUM_APPLE_CLANG_VERSION 10)
+set(MINIMUM_APPLE_CLANG_VERSION 11)
 set(MINIMUM_CLANG_VERSION 6)
 set(MINIMUM_GNU_VERSION 7.4)
 
@@ -153,12 +153,12 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL GNU)
 else()
   # Check flag added in tools/cc_toolchain/bazel.rc is supported.
   include(CheckCXXCompilerFlag)
-  set(FLAG_STD_CXX14 -std=c++14)
-  check_cxx_compiler_flag(${FLAG_STD_CXX14} CXX_COMPILER_SUPPORTS_FLAG_STD_CXX14)
-  if(NOT CXX_COMPILER_SUPPORTS_FLAG_STD_CXX14)
+  set(FLAG_STD_CXX17 -std=c++17)
+  check_cxx_compiler_flag(${FLAG_STD_CXX17} CXX_COMPILER_SUPPORTS_FLAG_STD_CXX17)
+  if(NOT CXX_COMPILER_SUPPORTS_FLAG_STD_CXX17)
     message(FATAL_ERROR
       "Compilation with ${CMAKE_CXX_COMPILER_ID} is NOT supported because it "
-      "does not accept the ${FLAG_STD_CXX14} flag"
+      "does not accept the ${FLAG_STD_CXX17} flag"
     )
   endif()
   message(WARNING
@@ -189,32 +189,9 @@ else()
   endif()
 endif()
 
-set(MINIMUM_SUPPORTED_CXX_VERSION 14)
-set(MAXIMUM_SUPPORTED_CXX_VERSION 17)
-set(DEFAULT_CXX_VERSION 14)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD ${DEFAULT_CXX_VERSION})
-endif()
-if(CMAKE_CXX_STANDARD LESS MINIMUM_SUPPORTED_CXX_VERSION)
-  message(FATAL_ERROR
-    "Compilation with C++ standard ${CMAKE_CXX_STANDARD} is NOT supported"
-  )
-endif()
-if(CMAKE_CXX_STANDARD GREATER MAXIMUM_SUPPORTED_CXX_VERSION)
-  message(WARNING
-    "Compilation with C++ standard ${CMAKE_CXX_STANDARD} is NOT supported. "
-    "Compilation of project drake_cxx_python may fail."
-  )
-endif()
-if(CMAKE_CXX${CMAKE_CXX_STANDARD}_STANDARD_COMPILE_OPTION)
-  set(MAYBE_BAZEL_CXXOPT_STD
-    "build --cxxopt=${CMAKE_CXX${CMAKE_CXX_STANDARD}_STANDARD_COMPILE_OPTION} --host_cxxopt=${CMAKE_CXX${CMAKE_CXX_STANDARD}_STANDARD_COMPILE_OPTION}"
-  )
-else()
-  set(MAYBE_BAZEL_CXXOPT_STD)
-endif()
+set(CMAKE_CXX_STANDARD 17)
 
 # The supported Python major/minor versions should match those listed in both
 # doc/developers.rst and tools/workspace/python/repository.bzl.

attic/multibody/rigid_body_tree_alias_groups.cc

@@ -2,13 +2,6 @@
 
 #include <set>
 
-#if  __cplusplus < 201703L
-template <typename T>
-constexpr char RigidBodyTreeAliasGroups<T>::kBodyGroupsKeyword[];
-template <typename T>
-constexpr char RigidBodyTreeAliasGroups<T>::kJointGroupsKeyword[];
-#endif
-
 namespace {
 // Inserts @p vec into @p mapping if @p key does not exist, or appends @p vec
 // to the existing vector in @p map. This function also guarantees the newly

bindings/pydrake/.clang-format

@@ -49,8 +49,8 @@ IncludeCategories:
   # C system headers.
   - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
     Priority: 20
-  # C++ system headers (as of C++14).
-  - Regex:    '^[<"](algorithm|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|mutex|new|numeric|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|vector)[">]$'
+  # C++ system headers (as of C++17).
+  - Regex:    '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
     Priority: 30
   # Other libraries' h files (with angles).
   - Regex:    '^<'

cmake/bazel.rc.in

@@ -17,7 +17,6 @@ build --subcommands=@BAZEL_SUBCOMMANDS@
 build --symlink_prefix=/
 
 @MAYBE_BAZEL_CONFIG@
-@MAYBE_BAZEL_CXXOPT_STD@
 
 build:Debug --compilation_mode=dbg
 build:MinSizeRel --compilation_mode=opt @MAYBE_BAZEL_COPT_OS@

common/drake_optional.h

@@ -9,25 +9,21 @@
 // though STX would otherwise do so by default) because its API often differs
 // from std::optional.
 #define STX_NO_STD_OPTIONAL
-#if __cplusplus >= 201703L
 #if defined(__has_include)
 #if __has_include(<optional>)
 #include <optional>
 #undef STX_NO_STD_OPTIONAL
 #endif
 #endif
-#endif
 
 // If the current toolchain offers a working std::variant, then use it.
 #define STX_NO_STD_VARIANT
-#if __cplusplus >= 201703L
 #if defined(__has_include)
 #if __has_include(<variant>)
 #include <variant>
 #undef STX_NO_STD_VARIANT
 #endif
 #endif
-#endif
 
 // Due to https://github.com/tcbrindle/cpp17_headers/issues/4, we must always
 // include variant before optional.  Rather than leaving that up to our users,

common/hash.cc

@@ -1,11 +1,4 @@
 #include "drake/common/hash.h"
 
-namespace drake {
-namespace internal {
-
-#if  __cplusplus < 201703L
-constexpr size_t FNV1aHasher::kFnvPrime;
-#endif
-
-}  // namespace internal
-}  // namespace drake
+// For now, this is an empty .cc file that only serves to confirm
+// hash.h is a stand-alone header.

common/random.cc

@@ -1,9 +1,4 @@
 #include "drake/common/random.h"
 
-namespace drake {
-
-#if  __cplusplus < 201703L
-constexpr RandomGenerator::result_type RandomGenerator::default_seed;
-#endif
-
-}  // namespace drake
+// For now, this is an empty .cc file that only serves to confirm
+// random.h is a stand-alone header.

common/test/drake_assert_test_compile_variants.sh

@@ -27,7 +27,7 @@ if [[ ! -e ./drake ]]; then
 fi
 
 # Confirm that it compiles successfully, whether or not assertions are enabled.
-TESTING_CXXFLAGS="$BAZEL_CC_FLAGS -std=c++14 -I . \
+TESTING_CXXFLAGS="$BAZEL_CC_FLAGS -std=c++17 -I . \
     -c $drake_assert_test_compile_cc \
     -o /dev/null"
 "$BAZEL_CC" $TESTING_CXXFLAGS

common/trajectories/piecewise_trajectory.h

@@ -76,9 +76,5 @@ class PiecewiseTrajectory : public Trajectory<T> {
   std::vector<double> breaks_;
 };
 
-#if  __cplusplus < 201703L
-  template <typename T>
-  constexpr double PiecewiseTrajectory<T>::kEpsilonTime;
-#endif
 }  // namespace trajectories
 }  // namespace drake

common/value.h

@@ -538,10 +538,6 @@ struct TypeHash {
   // (Such failures are expected to be rare.)
   static constexpr size_t value = calc();
 };
-#if  __cplusplus < 201703L
-template <typename T>
-constexpr size_t TypeHash<T>::value;
-#endif
 
 // This is called once per process per T whose type_hash is 0.  It logs a
 // TypeHash failure message to Drake's text log.

doc/developers.rst

@@ -73,7 +73,7 @@ The following table shows the configurations and platforms that Drake
 officially supports. Supported configurations are tested in continuous
 integration. All other configurations are provided on a best-effort basis.
 
-Drake requires a compiler running in C++14 mode or greater.
+Drake requires a compiler running in C++17 mode.
 
 +----------------------------------+-------+-------+---------------------+-------------------+-----------------+
 | Operating System                 | Bazel | CMake | C/C++ Compiler      | Java              | Python          |

manipulation/planner/robot_plan_interpolator.cc

@@ -34,10 +34,6 @@ constexpr int kAbsStateIdxInitFlag = 1;
 
 }  // namespace
 
-#if  __cplusplus < 201703L
-constexpr double RobotPlanInterpolator::kDefaultPlanUpdateInterval;
-#endif
-
 // TODO(sammy-tri) If we had version of Trajectory which supported
 // outputting the derivatives in value(), we could avoid keeping track
 // of multiple polynomials below.

math/roll_pitch_yaw.cc

@@ -10,11 +10,6 @@
 namespace drake {
 namespace math {
 
-#if  __cplusplus < 201703L
-template <class T>
-constexpr double RollPitchYaw<T>::kGimbalLockToleranceCosPitchAngle;
-#endif
-
 template <typename T>
 RotationMatrix<T> RollPitchYaw<T>::ToRotationMatrix() const {
   return RotationMatrix<T>(*this);

solvers/mathematical_program.cc

@@ -52,11 +52,6 @@ using internal::CreateBinding;
 using internal::DecomposeLinearExpression;
 using internal::SymbolicError;
 
-#if  __cplusplus < 201703L
-constexpr double MathematicalProgram::kGlobalInfeasibleCost;
-constexpr double MathematicalProgram::kUnboundedCost;
-#endif
-
 MathematicalProgram::MathematicalProgram()
     : x_initial_guess_(0),
       optimal_cost_(numeric_limits<double>::quiet_NaN()),

systems/framework/test/diagram_builder_test.cc

@@ -207,21 +207,21 @@ GTEST_TEST(DiagramBuilderTest, FinalizeWhenEmpty) {
 GTEST_TEST(DiagramBuilderTest, SystemsThatAreNotAddedThrow) {
   DiagramBuilder<double> builder;
   Adder<double> adder(1 /* inputs */, 1 /* size */);
-  adder.set_name("x");
+  adder.set_name("adder");
   DRAKE_EXPECT_THROWS_MESSAGE(
       builder.Connect(adder, adder),
       std::logic_error,
-      "DiagramBuilder: Cannot operate on ports of System x "
+      "DiagramBuilder: Cannot operate on ports of System adder "
       "until it has been registered using AddSystem");
   DRAKE_EXPECT_THROWS_MESSAGE(
       builder.ExportInput(adder.get_input_port(0)),
       std::logic_error,
-      "DiagramBuilder: Cannot operate on ports of System x "
+      "DiagramBuilder: Cannot operate on ports of System adder "
       "until it has been registered using AddSystem");
   DRAKE_EXPECT_THROWS_MESSAGE(
       builder.ExportOutput(adder.get_output_port()),
       std::logic_error,
-      "DiagramBuilder: Cannot operate on ports of System x "
+      "DiagramBuilder: Cannot operate on ports of System adder "
       "until it has been registered using AddSystem");
 }
 

systems/framework/test/vector_system_test.cc

@@ -136,9 +136,6 @@ class TestVectorSystem : public VectorSystem<double> {
   mutable int time_derivatives_count_{0};
   mutable int discrete_variable_updates_count_{0};
 };
-#if  __cplusplus < 201703L
-constexpr int TestVectorSystem::kSize;
-#endif
 
 class VectorSystemTest : public ::testing::Test {
   // Not yet needed, but placeholder for future common code.

systems/rendering/frame_velocity.cc

@@ -6,10 +6,6 @@ namespace drake {
 namespace systems {
 namespace rendering {
 
-#if  __cplusplus < 201703L
-template <typename T> constexpr int FrameVelocity<T>::kSize;
-#endif
-
 template <typename T>
 FrameVelocity<T>::FrameVelocity()
     : FrameVelocity<T>::FrameVelocity(

systems/rendering/pose_vector.cc

@@ -6,10 +6,6 @@ namespace drake {
 namespace systems {
 namespace rendering {
 
-#if  __cplusplus < 201703L
-template <typename T> constexpr int PoseVector<T>::kSize;
-#endif
-
 template <typename T>
 PoseVector<T>::PoseVector()
     : PoseVector<T>::PoseVector(Eigen::Quaternion<T>::Identity(),

systems/sensors/image.cc

@@ -1,17 +1,4 @@
 #include "drake/systems/sensors/image.h"
 
-namespace drake {
-namespace systems {
-namespace sensors {
-
-#if  __cplusplus < 201703L
-constexpr float InvalidDepth::kTooFar;
-constexpr float InvalidDepth::kTooClose;
-
-constexpr int16_t Label::kNoBody;
-constexpr int16_t Label::kFlatTerrain;
-#endif
-
-}  // namespace sensors
-}  // namespace systems
-}  // namespace drake
+// For now, this is an empty .cc file that only serves to confirm
+// image.h is a stand-alone header.

systems/sensors/image.h

@@ -184,17 +184,6 @@ class Label {
     std::numeric_limits<int16_t>::max() - 1};
 };
 
-#if  __cplusplus < 201703L
-template <PixelType kPixelType>
-constexpr int Image<kPixelType>::kNumChannels;
-
-template <PixelType kPixelType>
-constexpr int Image<kPixelType>::kPixelSize;
-
-template <PixelType kPixelType>
-constexpr PixelFormat Image<kPixelType>::kPixelFormat;
-#endif
-
 }  // namespace sensors
 }  // namespace systems
 }  // namespace drake

systems/sensors/pixel_types.cc

@@ -1,42 +1,4 @@
 #include "drake/systems/sensors/pixel_types.h"
 
-namespace drake {
-namespace systems {
-namespace sensors {
-
-#if  __cplusplus < 201703L
-constexpr int ImageTraits<PixelType::kRgb8U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kRgb8U>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kBgr8U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kBgr8U>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kRgba8U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kRgba8U>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kBgra8U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kBgra8U>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kDepth32F>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kDepth32F>::kPixelFormat;
-constexpr ImageTraits<PixelType::kDepth32F>::ChannelType ImageTraits<PixelType::kDepth32F>::kTooClose;  // NOLINT
-constexpr ImageTraits<PixelType::kDepth32F>::ChannelType ImageTraits<PixelType::kDepth32F>::kTooFar;  // NOLINT
-
-constexpr int ImageTraits<PixelType::kDepth16U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kDepth16U>::kPixelFormat;
-constexpr ImageTraits<PixelType::kDepth16U>::ChannelType ImageTraits<PixelType::kDepth16U>::kTooClose;  // NOLINT
-constexpr ImageTraits<PixelType::kDepth16U>::ChannelType ImageTraits<PixelType::kDepth16U>::kTooFar;  // NOLINT
-
-constexpr int ImageTraits<PixelType::kLabel16I>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kLabel16I>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kGrey8U>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kGrey8U>::kPixelFormat;
-
-constexpr int ImageTraits<PixelType::kExpr>::kNumChannels;
-constexpr PixelFormat ImageTraits<PixelType::kExpr>::kPixelFormat;
-#endif  // __cplusplus
-
-}  // namespace sensors
-}  // namespace systems
-}  // namespace drake
+// For now, this is an empty .cc file that only serves to confirm
+// pixel_types.h is a stand-alone header.

tools/cc_toolchain/bazel.rc

@@ -1,9 +1,9 @@
 # Disable ccache due to incompatibility with Bazel.
 build --action_env=CCACHE_DISABLE=1
 
-# Add C++14 compiler flags.
-build --cxxopt=-std=c++14
-build --host_cxxopt=-std=c++14
+# Add C++17 compiler flags.
+build --cxxopt=-std=c++17
+build --host_cxxopt=-std=c++17
 
 # When compiling with Drake as the main WORKSPACE (i.e., if and only if this
 # rcfile is loaded), we enable -Werror by default for Drake's *own* targets,