attic: Deprecate manipulation/util (RobotLocomotion#12679)

This includes robot_state_msg_translator, sim_diagram_builder, and
world_sim_tree_builder.

attic/manipulation/util/BUILD.bazel

@@ -24,6 +24,7 @@ drake_cc_library(
     name = "world_sim_tree_builder",
     srcs = ["world_sim_tree_builder.cc"],
     hdrs = ["world_sim_tree_builder.h"],
+    copts = ["-Wno-deprecated-declarations"],
     deps = [
         "//attic/multibody:rigid_body_tree",
         "//attic/multibody:rigid_body_tree_construction",
@@ -38,6 +39,7 @@ drake_cc_library(
     name = "robot_state_msg_translator",
     srcs = ["robot_state_msg_translator.cc"],
     hdrs = ["robot_state_msg_translator.h"],
+    copts = ["-Wno-deprecated-declarations"],
     deps = [
         "//attic/multibody:rigid_body_tree",
         "//attic/util",
@@ -50,6 +52,7 @@ drake_cc_library(
     name = "sim_diagram_builder",
     srcs = ["sim_diagram_builder.cc"],
     hdrs = ["sim_diagram_builder.h"],
+    copts = ["-Wno-deprecated-declarations"],
     deps = [
         "//attic/multibody/rigid_body_plant",
         "//attic/multibody/rigid_body_plant:drake_visualizer",
@@ -64,6 +67,7 @@ drake_cc_googletest(
     name = "robot_state_msg_translator_test",
     # TODO(siyuan): we should eventually move the models for test outside of
     # /examples.
+    copts = ["-Wno-deprecated-declarations"],
     data = [
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/wsg_50_description:models",
@@ -80,6 +84,7 @@ drake_cc_googletest(
 
 drake_cc_googletest(
     name = "sim_diagram_builder_test",
+    copts = ["-Wno-deprecated-declarations"],
     data = [
         "//examples/kuka_iiwa_arm:models",
         "//manipulation/models/iiwa_description:models",

attic/manipulation/util/README.md

@@ -1 +1,2 @@
-All code in this drake/attic/manipulation/util folder will soon be deprecated.
+All code in this drake/attic/manipulation/util folder is deprecated and will be
+removed from Drake on 2020-05-01.

attic/manipulation/util/robot_state_msg_translator.h

@@ -6,6 +6,7 @@
 
 #include "bot_core/robot_state_t.hpp"
 
+#include "drake/common/drake_deprecated.h"
 #include "drake/multibody/rigid_body_tree.h"
 
 namespace drake {
@@ -39,7 +40,9 @@ namespace manipulation {
  * comprehensive information, and the individual subscribers can pay attention
  * to whatever subset of interest using reduced models.
  */
-class RobotStateLcmMessageTranslator {
+class DRAKE_DEPRECATED("2020-05-01",
+    "The attic/manipulation/util package is being removed.")
+RobotStateLcmMessageTranslator {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(RobotStateLcmMessageTranslator)
 

attic/manipulation/util/sim_diagram_builder.h

@@ -5,6 +5,7 @@
 #include <utility>
 
 #include "drake/common/drake_copyable.h"
+#include "drake/common/drake_deprecated.h"
 #include "drake/multibody/rigid_body_plant/drake_visualizer.h"
 #include "drake/multibody/rigid_body_plant/rigid_body_plant.h"
 #include "drake/systems/controllers/state_feedback_controller_interface.h"
@@ -23,7 +24,9 @@ namespace util {
  * Access to a mutable DiagramBuilder is provided by get_mutable_builder().
  */
 template <typename T>
-class SimDiagramBuilder {
+class DRAKE_DEPRECATED("2020-05-01",
+    "The attic/manipulation/util package is being removed.")
+SimDiagramBuilder {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SimDiagramBuilder)
 

attic/manipulation/util/world_sim_tree_builder.h

@@ -5,6 +5,7 @@
 #include <string>
 #include <utility>
 
+#include "drake/common/drake_deprecated.h"
 #include "drake/multibody/rigid_body_plant/compliant_contact_model.h"
 #include "drake/multibody/rigid_body_tree.h"
 
@@ -13,7 +14,9 @@ namespace manipulation {
 namespace util {
 
 template <typename T>
-struct ModelInstanceInfo {
+struct DRAKE_DEPRECATED("2020-05-01",
+    "The attic/manipulation/util package is being removed.")
+ModelInstanceInfo {
   std::string absolute_model_path;
   int instance_id;
   std::shared_ptr<RigidBodyFrame<T>> world_offset;
@@ -30,7 +33,9 @@ struct ModelInstanceInfo {
 /// - double
 ///
 template <typename T>
-class WorldSimTreeBuilder {
+class DRAKE_DEPRECATED("2020-05-01",
+    "The attic/manipulation/util package is being removed.")
+WorldSimTreeBuilder {
  public:
   /// Constructs a WorldSimTreeBuilder object and specifies whether a call to
   /// any of the add model instance functions should compile the tree.
@@ -122,9 +127,11 @@ class WorldSimTreeBuilder {
   /// Adds a flat terrain to the simulation.
   void AddGround();
 
-  // We are neither copyable nor moveable.
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   WorldSimTreeBuilder(const WorldSimTreeBuilder<T>& other) = delete;
   WorldSimTreeBuilder& operator=(const WorldSimTreeBuilder<T>& other) = delete;
+#pragma GCC diagnostic pop
 
   /// Adds a model to the internal model database. Models are
   /// described by @p model_name coupled with URDF/SDF paths in @p
@@ -179,9 +186,12 @@ class WorldSimTreeBuilder {
     return rigid_body_tree_.get();
   }
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   ModelInstanceInfo<T> get_model_info_for_instance(int id) {
     return instance_id_to_model_info_.at(id);
   }
+#pragma GCC diagnostic pop
 
   /// The compliant contact model parameters to use with the default material
   /// parameters; these values should be passed to the plant.
@@ -204,7 +214,10 @@ class WorldSimTreeBuilder {
   // loaded into the simulation.
   std::map<std::string, std::string> model_map_;
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   std::map<int, ModelInstanceInfo<T>> instance_id_to_model_info_;
+#pragma GCC diagnostic pop
 
   // The default parameters for evaluating contact: the parameters for the
   // model as well as the contact materials of the collision elements.

examples/allegro_hand/BUILD.bazel

@@ -61,7 +61,6 @@ drake_cc_googletest(
     deps = [
         ":allegro_common",
         ":allegro_lcm",
-        "//attic/manipulation/util:world_sim_tree_builder",
         "//common/test_utilities:eigen_matrix_compare",
         "//systems/framework",
     ],

examples/allegro_hand/test/allegro_lcm_test.cc

@@ -7,7 +7,6 @@
 #include "drake/examples/allegro_hand/allegro_common.h"
 #include "drake/lcmt_allegro_command.hpp"
 #include "drake/lcmt_allegro_status.hpp"
-#include "drake/manipulation/util/world_sim_tree_builder.h"
 #include "drake/systems/framework/context.h"
 
 namespace drake {

examples/kuka_iiwa_arm/kuka_simulation.cc

@@ -62,7 +62,14 @@ using systems::controllers::rbt::InverseDynamicsController;
 using systems::controllers::StateFeedbackControllerInterface;
 
 int DoMain() {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  // N.B. If SimDiagramBuilder reaches its deprecation date of 2020-05-01 prior
+  // to kuka_simulation being rewritten, then instead of completely removing
+  // the SimDiagramBuilder, we should instead mark it private, remove it from
+  // the installation, but keep using it here.
   SimDiagramBuilder<double> builder;
+#pragma GCC diagnostic pop
   systems::DiagramBuilder<double>* base_builder = builder.get_mutable_builder();
 
   // Adds a plant.

examples/kuka_iiwa_arm/test/iiwa_lcm_test.cc

@@ -16,8 +16,15 @@ GTEST_TEST(IiwaLcmTest, IiwaContactResultsToExternalTorque) {
   const std::string kIiwaUrdf =
     "drake/manipulation/models/iiwa_description/urdf/"
     "iiwa14_polytope_collision.urdf";
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  // N.B. If WorldSimTreeBuilder reaches its deprecation date of 2020-05-01
+  // prior to this test being removed, then instead of completely removing the
+  // WorldSimTreeBuilder, we should instead mark it private, remove it from the
+  // installation, but keep using it here.
   auto tree_builder =
       std::make_unique<manipulation::util::WorldSimTreeBuilder<double>>();
+#pragma GCC diagnostic pop
   tree_builder->StoreDrakeModel("iiwa", kIiwaUrdf);
 
   tree_builder->AddFixedModelInstance("iiwa", Vector3<double>::Zero());