Remove deprecated code 2021-01 (RobotLocomotion#14486)

* Remove deprecated code 2021-01
mcx · Jan 4, 2021 · 2447c2f · 2447c2f
1 parent 15a66d7
commit 2447c2f
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Showing 27 changed files with 8 additions and 668 deletions.
diff --git a/bindings/pydrake/systems/framework_py_semantics.cc b/bindings/pydrake/systems/framework_py_semantics.cc
@@ -6,7 +6,6 @@
 
 #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_safe_index_pybind.h"
 #include "drake/bindings/pydrake/common/wrap_pybind.h"
@@ -47,10 +46,6 @@ py::object DoEval(const SomeObject* self, const systems::Context<T>& context) {
 }
 }  // namespace
 
-const char* doc_fix_input_port_deprecation =
-    "Use input_port.FixValue() instead of context.FixInputPort(). This will be "
-    "removed from Drake on or after 2021-01-01.";
-
 void DefineFrameworkPySemantics(py::module m) {
   // NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
   using namespace drake::systems;
@@ -295,41 +290,9 @@ void DefineFrameworkPySemantics(py::module m) {
               abstract_value.attr("set_value")(value);
             },
             py::arg("index"), py::arg("value"),
-            doc.Context.SetAbstractState.doc);
-    // NOTE: SetTimeStateAndParametersFrom is bound below in
-    // bind_context_methods_templated_on_a_secondary_scalar
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    context_cls
-        .def(
-            "FixInputPort",
-            [](Context<T>* self, int index, const BasicVector<T>& vec) {
-              WarnDeprecated(doc_fix_input_port_deprecation);
-              return &self->FixInputPort(index, vec);
-            },
-            py::arg("index"), py::arg("vec"), py_rvp::reference_internal,
-            doc.Context.FixInputPort.doc_deprecated_deprecated_2args_index_vec)
-        .def(
-            "FixInputPort",
-            [](Context<T>* self, int index, unique_ptr<AbstractValue> value) {
-              WarnDeprecated(doc_fix_input_port_deprecation);
-              return &self->FixInputPort(index, std::move(value));
-            },
-            py::arg("index"), py::arg("value"), py_rvp::reference_internal,
-            // Keep alive, ownership: `AbstractValue` keeps `self` alive.
-            py::keep_alive<3, 1>(), doc.ContextBase.FixInputPort.doc)
-        .def(
-            "FixInputPort",
-            [](Context<T>* self, int index,
-                const Eigen::Ref<const VectorX<T>>& data) {
-              WarnDeprecated(doc_fix_input_port_deprecation);
-              return &self->FixInputPort(index, data);
-            },
-            py::arg("index"), py::arg("data"), py_rvp::reference_internal,
-            doc.Context.FixInputPort
-                .doc_deprecated_deprecated_2args_index_data);
-#pragma GCC diagnostic pop
-    context_cls
+            doc.Context.SetAbstractState.doc)
+        // NOTE: SetTimeStateAndParametersFrom is bound below in
+        // bind_context_methods_templated_on_a_secondary_scalar
         .def("SetAccuracy", &Context<T>::SetAccuracy, py::arg("accuracy"),
             doc.Context.SetAccuracy.doc)
         // Bindings for the Context methods in the Doxygen group titled

diff --git a/bindings/pydrake/systems/test/general_test.py b/bindings/pydrake/systems/test/general_test.py
@@ -818,24 +818,6 @@ def test_vector_input_port_fix(self, T):
             # type-erased Value objects are incompatible.
             input_port.FixValue(context, AbstractValue.Make("string"))
 
-    def test_context_fix_input_port(self):
-        # WARNING: This is not the recommend workflow; instead, use
-        # `InputPort.FixValue` instead. This is here just for testing /
-        # coverage purposes.
-        dt = 0.1  # Arbitrary.
-        system_vec = ZeroOrderHold(period_sec=dt, vector_size=1)
-        context_vec = system_vec.CreateDefaultContext()
-        with catch_drake_warnings(expected_count=2):
-            context_vec.FixInputPort(index=0, data=[0.])
-            context_vec.FixInputPort(index=0, vec=BasicVector([0.]))
-        # Test abstract.
-        model_value = AbstractValue.Make("Hello")
-        system_abstract = ZeroOrderHold(
-            period_sec=dt, abstract_model_value=model_value.Clone())
-        context_abstract = system_abstract.CreateDefaultContext()
-        with catch_drake_warnings(expected_count=1):
-            context_abstract.FixInputPort(index=0, value=model_value.Clone())
-
     def test_event_status(self):
         system = ZeroOrderHold(period_sec=0.1, vector_size=1)
         # Existence check.

diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -14,7 +14,6 @@ drake_cc_package_library(
     name = "proximity",
     visibility = ["//visibility:public"],
     deps = [
-        ":bounding_volume_hierarchy",
         ":bvh",
         ":collision_filter_legacy",
         ":collisions_exist_callback",
@@ -53,12 +52,6 @@ drake_cc_package_library(
     ],
 )
 
-drake_cc_library(
-    name = "bounding_volume_hierarchy",
-    hdrs = ["bounding_volume_hierarchy.h"],
-    deps = [":bvh"],
-)
-
 drake_cc_library(
     name = "bvh",
     srcs = ["bvh.cc"],
@@ -562,7 +555,6 @@ drake_cc_library(
 drake_cc_googletest(
     name = "bvh_test",
     deps = [
-        ":bounding_volume_hierarchy",
         ":bvh",
         ":make_ellipsoid_mesh",
         ":make_sphere_mesh",

diff --git a/geometry/proximity/bounding_volume_hierarchy.h b/geometry/proximity/bounding_volume_hierarchy.h
diff --git a/geometry/proximity/test/bvh_test.cc b/geometry/proximity/test/bvh_test.cc
@@ -3,7 +3,6 @@
 #include <gtest/gtest.h>
 
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
-#include "drake/geometry/proximity/bounding_volume_hierarchy.h"
 #include "drake/geometry/proximity/make_ellipsoid_mesh.h"
 #include "drake/geometry/proximity/make_sphere_mesh.h"
 #include "drake/geometry/proximity/obb.h"
@@ -70,19 +69,6 @@ class BvhTester {
 };
 
 namespace {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-
-// Since we are deprecating BoundingVolumeHierarchy by aliasing it as Bvh,
-// here we test an instantiation of the alias. We should remove this test at
-// the end of deprecation period.
-GTEST_TEST(BoundingVolumeHierarchyTest, TestInstantiation) {
-  const SurfaceMesh<double> mesh =
-      MakeSphereSurfaceMesh<double>(Sphere(1.5), 3);
-  const BoundingVolumeHierarchy<SurfaceMesh<double>> bvh(mesh);
-}
-
-#pragma GCC diagnostic pop  // pop "-Wdeprecated-declarations"
 
 GTEST_TEST(BvNodeTest, TestEqualLeaf) {
   // Bounding volume is not used in EqualLeaf. It is used in EqualTrees.

diff --git a/math/BUILD.bazel b/math/BUILD.bazel
@@ -24,7 +24,6 @@ drake_cc_package_library(
         ":discrete_lyapunov_equation",
         ":eigen_sparse_triplet",
         ":evenly_distributed_pts_on_sphere",
-        ":expmap",
         ":geometric_transform",
         ":gradient",
         ":gray_code",
@@ -216,16 +215,6 @@ drake_cc_library(
     deps = ["@eigen"],
 )
 
-drake_cc_library(
-    name = "expmap",
-    srcs = ["expmap.cc"],
-    hdrs = ["expmap.h"],
-    deps = [
-        ":gradient",
-        "//common:essential",
-    ],
-)
-
 drake_cc_library(
     name = "gray_code",
     srcs = ["gray_code.cc"],
@@ -377,17 +366,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "expmap_test",
-    copts = [
-        "-Wno-deprecated-declarations",
-    ],
-    deps = [
-        ":expmap",
-        "//common/test_utilities:eigen_matrix_compare",
-    ],
-)
-
 drake_cc_googletest(
     name = "eigen_sparse_triplet_test",
     deps = [

diff --git a/math/expmap.cc b/math/expmap.cc