solvers: Start the rename transition for bazel labels (RobotLocomotio…

…n#11568) The target named ":mathematical_program" should be just mathematical_program.h and its cc file, but historically has also depended on all of the external solvers. We'll deprecate the name (offering ":mathematical_program_lite" in the meantime) to allow for a smooth transition.
tri-ltyyu · Jun 5, 2019 · 0a8048e · 0a8048e
1 parent f9e3408
commit 0a8048e
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Showing 14 changed files with 145 additions and 96 deletions.
diff --git a/attic/manipulation/dev/BUILD.bazel b/attic/manipulation/dev/BUILD.bazel
@@ -32,7 +32,8 @@ drake_cc_library(
         "//attic/multibody:rigid_body_tree",
         "//attic/systems/controllers:control_util",
         "//math:geometric_transform",
-        "//solvers:mathematical_program",
+        "//solvers:gurobi_solver",
+        "//solvers:mathematical_program_lite",
         "//systems/framework:leaf_system",
     ],
 )

diff --git a/attic/multibody/BUILD.bazel b/attic/multibody/BUILD.bazel
@@ -57,7 +57,7 @@ drake_cc_library(
     ],
     deps = [
         ":rigid_body_tree",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:mixed_integer_rotation_constraint",
         "//solvers:rotation_constraint",
     ],
@@ -127,7 +127,7 @@ drake_cc_library(
         ":rigid_body_tree",
         "//common:unused",
         "//math:gradient",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:solve",
     ],
 )

diff --git a/attic/multibody/rigid_body_plant/BUILD.bazel b/attic/multibody/rigid_body_plant/BUILD.bazel
@@ -76,7 +76,7 @@ drake_cc_library(
         "//common:essential",
         "//math:orthonormal_basis",
         "//multibody/constraint:constraint_solver",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//systems/framework",
     ],
 )

diff --git a/attic/perception/estimators/dev/BUILD.bazel b/attic/perception/estimators/dev/BUILD.bazel
@@ -95,7 +95,7 @@ drake_cc_googletest(
         "//common:find_resource",
         "//lcmtypes:viewer",
         "//math:geometric_transform",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:solve",
     ],
 )

diff --git a/attic/systems/controllers/qp_inverse_dynamics/BUILD.bazel b/attic/systems/controllers/qp_inverse_dynamics/BUILD.bazel
@@ -93,7 +93,8 @@ drake_cc_library(
         "//attic/multibody:rigid_body_tree",
         "//common:essential",
         "//math:gradient",
-        "//solvers:mathematical_program",
+        "//solvers:gurobi_solver",
+        "//solvers:mathematical_program_lite",
     ],
 )
 

diff --git a/attic/systems/estimators/dev/BUILD.bazel b/attic/systems/estimators/dev/BUILD.bazel
@@ -27,7 +27,7 @@ drake_cc_test(
         "//attic/multibody/parsers",
         "//common:essential",
         "//common:find_resource",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:solve",
         "@lcm",
         "@lcmtypes_bot2_core",

diff --git a/examples/cubic_polynomial/BUILD.bazel b/examples/cubic_polynomial/BUILD.bazel
@@ -10,7 +10,7 @@ drake_cc_binary(
     add_test_rule = 1,
     tags = mosek_test_tags(),
     deps = [
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:solve",
         "//systems/framework:vector_system",
     ],
@@ -23,7 +23,7 @@ drake_cc_binary(
     tags = mosek_test_tags(),
     deps = [
         "//common/proto:call_python",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:mosek_solver",
         "//solvers:solve",
         "//systems/framework:vector_system",

diff --git a/examples/rod2d/BUILD.bazel b/examples/rod2d/BUILD.bazel
@@ -51,7 +51,7 @@ drake_cc_library(
         ":rod2d_state_vector",
         "//common:essential",
         "//multibody/constraint",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//systems/framework:leaf_system",
         "//systems/rendering:pose_vector",
     ],

diff --git a/manipulation/planner/BUILD.bazel b/manipulation/planner/BUILD.bazel
@@ -26,7 +26,8 @@ drake_cc_library(
     hdrs = ["differential_inverse_kinematics.h"],
     deps = [
         "//multibody/plant",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
+        "//solvers:osqp_solver",
     ],
 )
 

diff --git a/multibody/optimization/BUILD.bazel b/multibody/optimization/BUILD.bazel
@@ -70,7 +70,7 @@ drake_cc_library(
         "//multibody/plant",
         "//solvers:binding",
         "//solvers:constraint",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
     ],
 )
 
@@ -117,7 +117,7 @@ drake_cc_googletest(
         ":static_equilibrium_constraint",
         "//common/test_utilities:eigen_matrix_compare",
         "//math:compute_numerical_gradient",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
         "//solvers:solve",
     ],
 )