From 0f3045b6340571c32691fbaf4f5aa1390bf985ec Mon Sep 17 00:00:00 2001
From: Jeremy Nimmer <jeremy.nimmer@tri.global>
Date: Fri, 1 Nov 2019 18:15:31 -0400
Subject: [PATCH] common: Remove deprecated methods 2019-10-15 (#12301)

---
 common/eigen_types.h   | 10 ----------
 math/rigid_transform.h |  1 +
 2 files changed, 1 insertion(+), 10 deletions(-)

diff --git a/common/eigen_types.h b/common/eigen_types.h
index 7dad289d7b17..78ee5f6e6be1 100644
--- a/common/eigen_types.h
+++ b/common/eigen_types.h
@@ -16,7 +16,6 @@
 #include "drake/common/constants.h"
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 
 namespace drake {
 
@@ -163,15 +162,6 @@ using SquareTwistMatrix = Eigen::Matrix<Scalar, kTwistSize, kTwistSize>;
 template <typename Scalar>
 using WrenchVector = Eigen::Matrix<Scalar, 6, 1>;
 
-/// A column vector consisting of a concatenated rotational and translational
-/// force.  The wrench is a special case of a SpatialForce.  For a general
-/// SpatialForce the rotational force can be a pure torque or the accumulation
-/// of moments and need not necessarily be a function of the force term.
-template <typename Scalar>
-using SpatialForce
-DRAKE_DEPRECATED("2019-10-15", "Please use Vector6<> instead.")
-    = Eigen::Matrix<Scalar, 6, 1>;
-
 /// EigenSizeMinPreferDynamic<a, b>::value gives the min between compile-time
 /// sizes @p a and @p b. 0 has absolute priority, followed by 1, followed by
 /// Dynamic, followed by other finite values.
diff --git a/math/rigid_transform.h b/math/rigid_transform.h
index b6a6c5839a9e..12b4b34b451d 100644
--- a/math/rigid_transform.h
+++ b/math/rigid_transform.h
@@ -5,6 +5,7 @@
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_bool.h"
 #include "drake/common/drake_copyable.h"
+#include "drake/common/drake_deprecated.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/never_destroyed.h"
 #include "drake/math/rotation_matrix.h"