systems: Move spring_mass_system to a test utility (RobotLocomotion#1…

…4284) This allows us to remove the awkward and misleading drake/system/plants directory. This is a breaking change for anyone who was using this plant via the precompiled binaries.
leido · Nov 4, 2020 · 4cdc131 · 4cdc131
1 parent 96e0cc0
commit 4cdc131
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Showing 14 changed files with 37 additions and 60 deletions.
diff --git a/systems/analysis/BUILD.bazel b/systems/analysis/BUILD.bazel
@@ -507,7 +507,7 @@ drake_cc_googletest(
         "//common/test_utilities:expect_throws_message",
         "//systems/analysis/test_utilities:implicit_integrator_test",
         "//systems/analysis/test_utilities:quadratic_scalar_system",
-        "//systems/plants/spring_mass_system",
+        "//systems/analysis/test_utilities:spring_mass_system",
     ],
 )
 
@@ -516,7 +516,7 @@ drake_cc_googletest(
     deps = [
         ":implicit_integrator",
         "//common/test_utilities:expect_no_throw",
-        "//systems/plants/spring_mass_system",
+        "//systems/analysis/test_utilities:spring_mass_system",
     ],
 )
 
@@ -525,7 +525,7 @@ drake_cc_googletest(
     deps = [
         ":integrator_base",
         "//common/test_utilities:expect_throws_message",
-        "//systems/plants/spring_mass_system",
+        "//systems/analysis/test_utilities:spring_mass_system",
     ],
 )
 
@@ -542,7 +542,7 @@ drake_cc_googletest(
         "//systems/analysis/test_utilities:implicit_integrator_test",
         "//systems/analysis/test_utilities:linear_scalar_system",
         "//systems/analysis/test_utilities:quadratic_scalar_system",
-        "//systems/plants/spring_mass_system",
+        "//systems/analysis/test_utilities:spring_mass_system",
     ],
 )
 

diff --git a/systems/analysis/test/implicit_integrator_test.cc b/systems/analysis/test/implicit_integrator_test.cc
@@ -2,7 +2,7 @@
 
 #include <gtest/gtest.h>
 
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 using Eigen::VectorXd;
 

diff --git a/systems/analysis/test/integrator_base_test.cc b/systems/analysis/test/integrator_base_test.cc
@@ -3,7 +3,7 @@
 #include <gtest/gtest.h>
 
 #include "drake/common/test_utilities/expect_throws_message.h"
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 namespace drake {
 namespace systems {

diff --git a/systems/analysis/test/simulator_test.cc b/systems/analysis/test/simulator_test.cc
@@ -21,10 +21,10 @@
 #include "drake/systems/analysis/test_utilities/controlled_spring_mass_system.h"
 #include "drake/systems/analysis/test_utilities/logistic_system.h"
 #include "drake/systems/analysis/test_utilities/my_spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 #include "drake/systems/analysis/test_utilities/stateless_system.h"
 #include "drake/systems/framework/diagram_builder.h"
 #include "drake/systems/framework/event.h"
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
 #include "drake/systems/primitives/constant_vector_source.h"
 #include "drake/systems/primitives/integrator.h"
 #include "drake/systems/primitives/signal_logger.h"

diff --git a/systems/analysis/test_utilities/BUILD.bazel b/systems/analysis/test_utilities/BUILD.bazel
@@ -30,6 +30,7 @@ drake_cc_package_library(
         ":quintic_scalar_system",
         ":robertson_system",
         ":spring_mass_damper_system",
+        ":spring_mass_system",
         ":stateless_system",
         ":stationary_system",
         ":stiff_double_mass_spring_system",
@@ -42,9 +43,9 @@ drake_cc_library(
     srcs = ["controlled_spring_mass_system.cc"],
     hdrs = ["controlled_spring_mass_system.h"],
     deps = [
+        ":spring_mass_system",
         "//systems/controllers:pid_controller",
         "//systems/framework",
-        "//systems/plants/spring_mass_system",
         "//systems/primitives:adder",
         "//systems/primitives:constant_vector_source",
         "//systems/primitives:demultiplexer",
@@ -128,7 +129,7 @@ drake_cc_library(
     testonly = 1,
     hdrs = ["my_spring_mass_system.h"],
     deps = [
-        "//systems/plants/spring_mass_system",
+        ":spring_mass_system",
     ],
 )
 
@@ -180,7 +181,27 @@ drake_cc_library(
     testonly = 1,
     hdrs = ["spring_mass_damper_system.h"],
     deps = [
-        "//systems/plants/spring_mass_system",
+        ":spring_mass_system",
+    ],
+)
+
+drake_cc_library(
+    name = "spring_mass_system",
+    testonly = 1,
+    srcs = ["spring_mass_system.cc"],
+    hdrs = ["spring_mass_system.h"],
+    deps = [
+        "//systems/framework:leaf_system",
+    ],
+)
+
+drake_cc_googletest(
+    name = "spring_mass_system_test",
+    size = "medium",
+    deps = [
+        ":spring_mass_system",
+        "//common/test_utilities",
+        "//systems/framework/test_utilities",
     ],
 )
 

diff --git a/systems/analysis/test_utilities/controlled_spring_mass_system.h b/systems/analysis/test_utilities/controlled_spring_mass_system.h
@@ -4,9 +4,9 @@
 
 #include "drake/common/default_scalars.h"
 #include "drake/common/drake_copyable.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 #include "drake/systems/controllers/pid_controller.h"
 #include "drake/systems/framework/diagram.h"
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
 #include "drake/systems/primitives/constant_vector_source.h"
 
 namespace drake {

diff --git a/systems/analysis/test_utilities/implicit_integrator_test.h b/systems/analysis/test_utilities/implicit_integrator_test.h
@@ -11,9 +11,9 @@
 #include "drake/systems/analysis/test_utilities/linear_scalar_system.h"
 #include "drake/systems/analysis/test_utilities/robertson_system.h"
 #include "drake/systems/analysis/test_utilities/spring_mass_damper_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 #include "drake/systems/analysis/test_utilities/stationary_system.h"
 #include "drake/systems/analysis/test_utilities/stiff_double_mass_spring_system.h"
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
 
 namespace drake {
 namespace systems {

diff --git a/systems/analysis/test_utilities/my_spring_mass_system.h b/systems/analysis/test_utilities/my_spring_mass_system.h
@@ -5,7 +5,7 @@
 #include <vector>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 namespace drake {
 namespace systems {

diff --git a/systems/analysis/test_utilities/spring_mass_damper_system.h b/systems/analysis/test_utilities/spring_mass_damper_system.h
@@ -3,7 +3,7 @@
 #include <limits>
 #include <utility>
 
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 // WARNING WARNING WARNING
 // This test is currently used only as a stiff system test for implicit

diff --git a/.../spring_mass_system/spring_mass_system.cc → ...ysis/test_utilities/spring_mass_system.cc b/.../spring_mass_system/spring_mass_system.cc → ...ysis/test_utilities/spring_mass_system.cc
@@ -1,4 +1,4 @@
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 #include <utility>
 

diff --git a/...s/spring_mass_system/spring_mass_system.h → ...lysis/test_utilities/spring_mass_system.h b/...s/spring_mass_system/spring_mass_system.h → ...lysis/test_utilities/spring_mass_system.h
diff --git a/...ss_system/test/spring_mass_system_test.cc → ...utilities/test/spring_mass_system_test.cc b/...ss_system/test/spring_mass_system_test.cc → ...utilities/test/spring_mass_system_test.cc
@@ -1,4 +1,4 @@
-#include "drake/systems/plants/spring_mass_system/spring_mass_system.h"
+#include "drake/systems/analysis/test_utilities/spring_mass_system.h"
 
 #include <memory>
 

diff --git a/systems/plants/spring_mass_system/BUILD.bazel b/systems/plants/spring_mass_system/BUILD.bazel
diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl
@@ -79,7 +79,6 @@ LIBDRAKE_COMPONENTS = [
     "//systems/framework",
     "//systems/lcm",
     "//systems/optimization",
-    "//systems/plants/spring_mass_system",
     "//systems/primitives",
     "//systems/rendering",
     "//systems/sensors",