Push unreleased deprecations back to 2021-04-01 (RobotLocomotion#14430)

* Push unreleased deprecations back to 2021-04-01

Because we did not tag a release during November, we should not count that
month toward the deprecation sunset.

bindings/pydrake/geometry_py.cc

@@ -279,7 +279,7 @@ void def_geometry_render(py::module m) {
         m, "CameraProperties", doc.CameraProperties.doc_deprecated);
     cls  // BR
         .def(py_init_deprecated<Class, int, int, double, std::string>(
-                 "Deprecated; due to be removed after 2021-03-01. Please use "
+                 "Deprecated; due to be removed after 2021-04-01. Please use "
                  "ColorRenderCamera instead"),
             py::arg("width"), py::arg("height"), py::arg("fov_y"),
             py::arg("renderer_name"), doc.CameraProperties.ctor.doc)
@@ -299,7 +299,7 @@ void def_geometry_render(py::module m) {
     cls  // BR
         .def(py_init_deprecated<Class, int, int, double, std::string, double,
                  double>(
-                 "Deprecated; due to be removed after 2021-03-01. Please use "
+                 "Deprecated; due to be removed after 2021-04-01. Please use "
                  "DepthRenderCamera instead"),
             py::arg("width"), py::arg("height"), py::arg("fov_y"),
             py::arg("renderer_name"), py::arg("z_near"), py::arg("z_far"),
@@ -490,7 +490,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
             WrapDeprecated(
                 "Please use SceneGraphInspector.SourceIsRegistered("
                 "source_id=value) instead. This variant will be removed after"
-                " after 2021-03-01",
+                " after 2021-04-01",
                 &Class::SourceIsRegistered),
             py::arg("id"), cls_doc.SourceIsRegistered.doc)
         .def("GetName",
@@ -818,7 +818,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
             WrapDeprecated("Please use "
                            "QueryObject.ComputeSignedDistancePairClosestPoints("
                            "geometry_id_A=value1, geometry_id_B=value2). This "
-                           "variant will be removed on or after 2021-03-01.",
+                           "variant will be removed on or after 2021-04-01.",
                 &QueryObject<T>::ComputeSignedDistancePairClosestPoints),
             py::arg("id_A"), py::arg("id_B"),
             cls_doc.ComputeSignedDistancePairClosestPoints.doc)

bindings/pydrake/systems/meshcat_visualizer.py

@@ -423,7 +423,7 @@ def DoPublish(self, context, event):
                 "builder.Connect("
                 "scene_graph.get_query_output_port(), "
                 "visualizer.get_geometry_query_input_port())\n"
-                "instead.", date="2021-03-01")
+                "instead.", date="2021-04-01")
             self._warned_pose_bundle_input_port_connected = True
 
         vis = self.vis[self.prefix]
@@ -559,7 +559,7 @@ def DoPublish(self, context, event):
             _warn_deprecated(
                 "The pose_bundle input port of MeshcatContactVisualizer is"
                 "deprecated; use the geometry_query inport port instead.",
-                date="2021-03-01")
+                date="2021-04-01")
             self._warned_pose_bundle_input_port_connected = True
 
         contact_results = self.EvalAbstractInput(context, 1).get_value()

examples/manipulation_station/manipulation_station.h

@@ -272,7 +272,7 @@ class ManipulationStation : public systems::Diagram<T> {
   /// camera body, RGB, and depth image frames are related.
   /// @param properties Properties for the RGBD camera.
   /// @pydrake_mkdoc_identifier{single_properties}
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "DepthRenderCamera variant.")
   void RegisterRgbdSensor(

geometry/geometry_state.h

@@ -502,7 +502,7 @@ class GeometryState {
 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   /** Implementation of QueryObject::RenderColorImage().
    @pre All poses have already been updated.  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "ColorRenderCamera variant.")
   void RenderColorImage(const render::CameraProperties& camera,
@@ -512,7 +512,7 @@ class GeometryState {
 
   /** Implementation of QueryObject::RenderDepthImage().
    @pre All poses have already been updated.  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "DepthRenderCamera variant.")
   void RenderDepthImage(const render::DepthCameraProperties& camera,
@@ -521,7 +521,7 @@ class GeometryState {
 
   /** Implementation of QueryObject::RenderLabelImage().
    @pre All poses have already been updated.  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "ColorRenderCamera variant.")
   void RenderLabelImage(const render::CameraProperties& camera,

geometry/geometry_visualization.h

@@ -97,7 +97,7 @@ class GeometryVisualizationImpl {
  @see geometry::DispatchLoadMessage()
  @ingroup visualization
  */
-DRAKE_DEPRECATED("2021-03-01", "Please use DrakeVisualizer::AddToBuilder().")
+DRAKE_DEPRECATED("2021-04-01", "Please use DrakeVisualizer::AddToBuilder().")
 systems::lcm::LcmPublisherSystem* ConnectDrakeVisualizer(
     systems::DiagramBuilder<double>* builder,
     const SceneGraph<double>& scene_graph,
@@ -113,7 +113,7 @@ systems::lcm::LcmPublisherSystem* ConnectDrakeVisualizer(
 
  @see ConnectDrakeVisualizer().
  */
-DRAKE_DEPRECATED("2021-03-01", "Please use DrakeVisualizer::AddToBuilder().")
+DRAKE_DEPRECATED("2021-04-01", "Please use DrakeVisualizer::AddToBuilder().")
 systems::lcm::LcmPublisherSystem* ConnectDrakeVisualizer(
     systems::DiagramBuilder<double>* builder,
     const SceneGraph<double>& scene_graph,
@@ -129,7 +129,7 @@ systems::lcm::LcmPublisherSystem* ConnectDrakeVisualizer(
  LCM channel "DRAKE_VIEWER_LOAD_ROBOT".
 
  @see geometry::ConnectDrakeVisualizer() */
-DRAKE_DEPRECATED("2021-03-01", "Please use DrakeVisualizer::SendLoadMessage().")
+DRAKE_DEPRECATED("2021-04-01", "Please use DrakeVisualizer::SendLoadMessage().")
 void DispatchLoadMessage(const SceneGraph<double>& scene_graph,
                          lcm::DrakeLcmInterface* lcm,
                          Role role = Role::kIllustration);

geometry/query_object.h

@@ -111,7 +111,7 @@ class QueryObject {
   const math::RigidTransform<T>& GetPoseInWorld(FrameId frame_id) const;
 
   /** Deprecated variant of GetPoseInWorld(FrameId).  */
-  DRAKE_DEPRECATED("2021-03-01", "Please use GetPoseInWorld(FrameId) instead.")
+  DRAKE_DEPRECATED("2021-04-01", "Please use GetPoseInWorld(FrameId) instead.")
   const math::RigidTransform<T>& X_WF(FrameId id) const;
 
   /** Reports the position of the frame indicated by `frame_id` relative to its
@@ -124,7 +124,7 @@ class QueryObject {
   const math::RigidTransform<T>& GetPoseInParent(FrameId frame_id) const;
 
   /** Deprecated variant of GetPoseInParent().  */
-  DRAKE_DEPRECATED("2021-03-01", "Please use GetPoseInParent(FrameId) instead.")
+  DRAKE_DEPRECATED("2021-04-01", "Please use GetPoseInParent(FrameId) instead.")
   const math::RigidTransform<T>& X_PF(FrameId id) const;
 
   /** Reports the position of the geometry indicated by `geometry_id` relative
@@ -133,7 +133,7 @@ class QueryObject {
   const math::RigidTransform<T>& GetPoseInWorld(GeometryId geometry_id) const;
 
   /** Deprecated variant of GetPoseInWorld(GeometryId).  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "Please use GetPoseInWorld(GeometryId) instead.")
   const math::RigidTransform<T>& X_WG(GeometryId id) const;
 
@@ -514,7 +514,7 @@ class QueryObject {
    @param X_PC                  The pose of the camera body in the parent frame.
    @param show_window           If true, the render window will be displayed.
    @param[out] color_image_out  The rendered color image. */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "ColorRenderCamera variant.")
   void RenderColorImage(const render::CameraProperties& camera,
@@ -548,7 +548,7 @@ class QueryObject {
    @param parent_frame          The id for the camera's parent frame.
    @param X_PC                  The pose of the camera body in the parent frame.
    @param[out] depth_image_out  The rendered depth image. */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "DepthRenderCamera variant.")
   void RenderDepthImage(const render::DepthCameraProperties& camera,
@@ -582,7 +582,7 @@ class QueryObject {
    @param X_PC                  The pose of the camera body in the parent frame.
    @param show_window           If true, the render window will be displayed.
    @param[out] label_image_out  The rendered label image. */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "ColorRenderCamera variant.")
   void RenderLabelImage(const render::CameraProperties& camera,

geometry/render/camera_properties.h

@@ -25,7 +25,7 @@ namespace render {
 
  The focal length is inferred by the sensor format (width and height) and the
  field of view along the y-axis. */
-struct DRAKE_DEPRECATED("2021-03-01",
+struct DRAKE_DEPRECATED("2021-04-01",
                         "CameraProperties are being deprecated. Please use "
                         "ColorRenderCamera.") CameraProperties {
   CameraProperties(int width_in, int height_in, double fov_y_in,
@@ -45,7 +45,7 @@ struct DRAKE_DEPRECATED("2021-03-01",
  intrinsic properties of the render camera but extended with additional
  depth-specific parameters.
  @see CameraProperties */
-struct DRAKE_DEPRECATED("2021-03-01",
+struct DRAKE_DEPRECATED("2021-04-01",
                         "DepthCameraProperties are being deprecated. Please "
                         "use DepthRenderCamera.")
 DepthCameraProperties : public CameraProperties {

geometry/render/render_engine.h

@@ -233,7 +233,7 @@ class RenderEngine : public ShapeReifier {
    @param show_window           If true, the render window will be displayed.
    @param[out] color_image_out  The rendered color image.
    @pydrake_mkdoc_identifier{deprecated}  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Prefer the "
                    "ColorRenderCamera variant; implement the protected "
                    "DoRenderColorImage() method.")
@@ -252,7 +252,7 @@ class RenderEngine : public ShapeReifier {
 
    @param camera                The intrinsic properties of the camera.
    @param[out] depth_image_out  The rendered depth image.  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "DepthCameraProperties are being deprecated. Prefer the "
                    "DepthRenderCamera variant; implement the protected "
                    "DoRenderDepthImage() method.")
@@ -271,7 +271,7 @@ class RenderEngine : public ShapeReifier {
    @param show_window           If true, the render window will be displayed.
    @param[out] label_image_out  The rendered label image.
    @pydrake_mkdoc_identifier{deprecated}  */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Prefer the "
                    "ColorRenderCamera variant; implement the protected "
                    "DoRenderLabelImage() method.")

geometry/render/test/render_engine_test.cc

@@ -381,7 +381,7 @@ GTEST_TEST(RenderEngine, DetectDoCloneFailure) {
 }
 
 // Test infrastructure to support deprecation efforts. After completing the
-// deprecation (2021-03-01), all of this test infrastructure can/should simply
+// deprecation (2021-04-01), all of this test infrastructure can/should simply
 // go away. In the deprecation period there are three possible configurations of
 // a child RenderEngine class:
 //

geometry/scene_graph.h

@@ -298,7 +298,7 @@ class SceneGraph final : public systems::LeafSystem<T> {
    @param data_as_state  `true` stores the data as State; `false` stores it as a
                          Parameter.  */
   DRAKE_DEPRECATED(
-      "2021-02-01",
+      "2021-04-01",
       "The choice of storing geometry data as State has been deprecated. "
       "Please use the default constructor which sets the geometry data as a "
       "Parameter. If this doesn't work for you please submit an issue in Drake "

geometry/scene_graph_inspector.h

@@ -175,7 +175,7 @@ class SceneGraphInspector {
 
   /** Reports the name for the source with the given `id`.
    @throws std::logic_error if `id` does not map to a registered source. */
-  DRAKE_DEPRECATED("2021-03-01", "Please use GetName(SourceId) instead.")
+  DRAKE_DEPRECATED("2021-04-01", "Please use GetName(SourceId) instead.")
   const std::string& GetSourceName(SourceId id) const {
     DRAKE_DEMAND(state_ != nullptr);
     return state_->GetName(id);

solvers/symbolic_extraction.h

@@ -39,7 +39,7 @@ void AppendToVector(const typename Derived::Scalar& s,
 /*
  * Adds context to symbolic expression-related errors.
  */
-class DRAKE_DEPRECATED("2021-03-01",
+class DRAKE_DEPRECATED("2021-04-01",
                        "Use SymbolicError in common/symbolic_decompose.h")
     SymbolicError : public std::runtime_error {
  public:
@@ -65,7 +65,7 @@ class DRAKE_DEPRECATED("2021-03-01",
  * `vars`, and map_var_to_index[vars(i).get_id()] = i. This invariance holds
  * for map_var_to_index both as the input and as the output.
  */
-DRAKE_DEPRECATED("2021-03-01",
+DRAKE_DEPRECATED("2021-04-01",
                  "Use ExtractAndAppendVariablesFromExpression() in "
                  "common/symbolic_decompose.h")
 void ExtractAndAppendVariablesFromExpression(
@@ -79,7 +79,7 @@ void ExtractAndAppendVariablesFromExpression(
  * from the variable ID to the index in pair.first, such that
  * pair.second[pair.first(i).get_id()] = i
  */
-DRAKE_DEPRECATED("2021-03-01",
+DRAKE_DEPRECATED("2021-04-01",
                  "Use ExtractAndVariablesFromExpression() in "
                  "common/symbolic_decompose.h")
 std::pair<VectorXDecisionVariable,
@@ -99,7 +99,7 @@ ExtractVariablesFromExpression(const symbolic::Expression& e);
  * `b` should be `num_variables * 1`.
  * @param c[out] The constant term of the quadratic expression.
  */
-DRAKE_DEPRECATED("2021-03-01",
+DRAKE_DEPRECATED("2021-04-01",
                  "Use DecomposeQuadraticPolynomial() in "
                  "common/symbolic_decompose.h")
 void DecomposeQuadraticPolynomial(
@@ -115,7 +115,7 @@ void DecomposeQuadraticPolynomial(
  * @param[out] b The vector containing all the constant terms.
  * @param[out] vars All variables.
  */
-DRAKE_DEPRECATED("2021-03-01",
+DRAKE_DEPRECATED("2021-04-01",
                  "Use DecomposeAffineExpressions() in "
                  "common/symbolic_decompose.h")
 void DecomposeLinearExpression(
@@ -148,7 +148,7 @@ void DecomposeLinearExpression(
  * has 1 variable, 2 * x(0) + 3 * x(1) - 2 * x(0) has 1 variable.
  */
 template <typename Derived>
-DRAKE_DEPRECATED("2021-03-01",
+DRAKE_DEPRECATED("2021-04-01",
                  "Use DecomposeAffineExpression() in "
                  "common/symbolic_decompose.h")
 typename std::enable_if<std::is_same<typename Derived::Scalar, double>::value,

systems/framework/diagram.h

@@ -99,7 +99,7 @@ class Diagram : public System<T>, internal::SystemParentServiceInterface {
 
   /// Returns an arbitrary "locator" for one of the subsystem input ports that
   /// were exported to the @p port_index input port for the Diagram.
-  DRAKE_DEPRECATED("2021-03-01", "Use GetInputPortLocators() instead.")
+  DRAKE_DEPRECATED("2021-04-01", "Use GetInputPortLocators() instead.")
   InputPortLocator get_input_port_locator(InputPortIndex port_index) const;
 
   /// Returns the "locator" for the subsystem output port that was exported as

systems/sensors/rgbd_sensor.h

@@ -99,7 +99,7 @@ class RgbdSensor final : public LeafSystem<double> {
 
   /** Specifies poses of cameras with respect ot the sensor base `B`.
    */
-  struct DRAKE_DEPRECATED("2021-03-01",
+  struct DRAKE_DEPRECATED("2021-04-01",
                    "The constructors that take poses explicitly have been "
                    "deprecated. Pose is now part of the RenderCamera "
                    "interface. See the RenderCamera-based RgbdSensor "
@@ -141,7 +141,7 @@ class RgbdSensor final : public LeafSystem<double> {
                          off-screen rendering is executed. The default is false.
    @pydrake_mkdoc_identifier{legacy_individual_intrinsics}
    */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "RenderCamera variant.")
   RgbdSensor(geometry::FrameId parent_id,
@@ -156,7 +156,7 @@ class RgbdSensor final : public LeafSystem<double> {
    properties, and all of `properties` for depth properties.
    @pydrake_mkdoc_identifier{legacy_combined_intrinsics}
    */
-  DRAKE_DEPRECATED("2021-03-01",
+  DRAKE_DEPRECATED("2021-04-01",
                    "CameraProperties are being deprecated. Please use the "
                    "RenderCamera variant.")
   RgbdSensor(geometry::FrameId parent_id, const math::RigidTransformd& X_PB,