From ff288a10e1b6aa262229c5cf61138e72572fdb03 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Sun, 30 Apr 2023 13:50:08 -0700 Subject: [PATCH] Remove deprecated code 2023-05 (#19307) --- bindings/pydrake/BUILD.bazel | 7 - bindings/pydrake/examples/BUILD.bazel | 7 - bindings/pydrake/examples/acrobot.py | 21 --- bindings/pydrake/examples/compass_gait.py | 18 --- .../pydrake/examples/manipulation_station.py | 20 --- bindings/pydrake/examples/pendulum.py | 19 --- bindings/pydrake/examples/quadrotor.py | 17 -- bindings/pydrake/examples/rimless_wheel.py | 18 --- bindings/pydrake/examples/van_der_pol.py | 15 -- .../pydrake/geometry/geometry_py_common.cc | 19 --- bindings/pydrake/geometry/test/common_test.py | 3 - bindings/pydrake/solvers/BUILD.bazel | 15 -- .../pydrake/solvers/augmented_lagrangian.py | 17 -- bindings/pydrake/solvers/branch_and_bound.py | 16 -- bindings/pydrake/solvers/clp.py | 17 -- bindings/pydrake/solvers/csdp.py | 17 -- bindings/pydrake/solvers/gurobi.py | 17 -- bindings/pydrake/solvers/ipopt.py | 17 -- .../pydrake/solvers/mathematicalprogram.py | 52 ------ .../mixed_integer_optimization_util.py | 20 --- .../mixed_integer_rotation_constraint.py | 16 -- bindings/pydrake/solvers/mosek.py | 17 -- bindings/pydrake/solvers/nlopt.py | 17 -- bindings/pydrake/solvers/osqp.py | 17 -- bindings/pydrake/solvers/scs.py | 17 -- bindings/pydrake/solvers/sdpa_free_format.py | 17 -- bindings/pydrake/solvers/snopt.py | 17 -- bindings/pydrake/systems/BUILD.bazel | 17 -- .../test/trajectory_optimization_dep_test.py | 23 --- .../systems/trajectory_optimization.py | 17 -- bindings/pydrake/visualization/BUILD.bazel | 1 + setup/mac/binary_distribution/Brewfile | 1 - setup/mac/install_prereqs.sh | 4 - .../source_distribution/packages-focal.txt | 1 - .../source_distribution/packages-jammy.txt | 1 - systems/trajectory_optimization/BUILD.bazel | 152 ------------------ .../stub/direct_collocation.h | 34 ---- .../stub/direct_transcription.h | 26 --- .../stub/integration_constraint.h | 21 --- .../stub/kinematic_trajectory_optimization.h | 21 --- .../stub/multiple_shooting.h | 19 --- .../stub/sequential_expression_manager.h | 23 --- .../test/deprecation_test.cc | 108 ------------- tools/install/libdrake/build_components.bzl | 1 - tools/workspace/ccd/BUILD.bazel | 3 - tools/workspace/ccd/package.BUILD.bazel | 60 ------- tools/workspace/ccd/repository.bzl | 13 -- tools/workspace/default.bzl | 43 ----- tools/workspace/fcl/BUILD.bazel | 5 - tools/workspace/fcl/package.BUILD.bazel | 136 ---------------- tools/workspace/fcl/repository.bzl | 13 -- tools/workspace/fcl/version-from-xml.sed | 4 - tools/workspace/msgpack/BUILD.bazel | 6 - tools/workspace/msgpack/repository.bzl | 65 -------- tools/workspace/stduuid/BUILD.bazel | 6 - tools/workspace/stduuid/package.BUILD.bazel | 13 -- tools/workspace/stduuid/repository.bzl | 13 -- tools/workspace/suitesparse/BUILD.bazel | 6 - .../workspace/suitesparse/package.BUILD.bazel | 25 --- tools/workspace/suitesparse/repository.bzl | 53 ------ 60 files changed, 1 insertion(+), 1403 deletions(-) delete mode 100644 bindings/pydrake/examples/acrobot.py delete mode 100644 bindings/pydrake/examples/compass_gait.py delete mode 100644 bindings/pydrake/examples/manipulation_station.py delete mode 100644 bindings/pydrake/examples/pendulum.py delete mode 100644 bindings/pydrake/examples/quadrotor.py delete mode 100644 bindings/pydrake/examples/rimless_wheel.py delete mode 100644 bindings/pydrake/examples/van_der_pol.py delete mode 100644 bindings/pydrake/solvers/augmented_lagrangian.py delete mode 100644 bindings/pydrake/solvers/branch_and_bound.py delete mode 100644 bindings/pydrake/solvers/clp.py delete mode 100644 bindings/pydrake/solvers/csdp.py delete mode 100644 bindings/pydrake/solvers/gurobi.py delete mode 100644 bindings/pydrake/solvers/ipopt.py delete mode 100644 bindings/pydrake/solvers/mathematicalprogram.py delete mode 100644 bindings/pydrake/solvers/mixed_integer_optimization_util.py delete mode 100644 bindings/pydrake/solvers/mixed_integer_rotation_constraint.py delete mode 100644 bindings/pydrake/solvers/mosek.py delete mode 100644 bindings/pydrake/solvers/nlopt.py delete mode 100644 bindings/pydrake/solvers/osqp.py delete mode 100644 bindings/pydrake/solvers/scs.py delete mode 100644 bindings/pydrake/solvers/sdpa_free_format.py delete mode 100644 bindings/pydrake/solvers/snopt.py delete mode 100644 bindings/pydrake/systems/test/trajectory_optimization_dep_test.py delete mode 100644 bindings/pydrake/systems/trajectory_optimization.py delete mode 100644 systems/trajectory_optimization/BUILD.bazel delete mode 100644 systems/trajectory_optimization/stub/direct_collocation.h delete mode 100644 systems/trajectory_optimization/stub/direct_transcription.h delete mode 100644 systems/trajectory_optimization/stub/integration_constraint.h delete mode 100644 systems/trajectory_optimization/stub/kinematic_trajectory_optimization.h delete mode 100644 systems/trajectory_optimization/stub/multiple_shooting.h delete mode 100644 systems/trajectory_optimization/stub/sequential_expression_manager.h delete mode 100644 systems/trajectory_optimization/test/deprecation_test.cc delete mode 100644 tools/workspace/ccd/BUILD.bazel delete mode 100644 tools/workspace/ccd/package.BUILD.bazel delete mode 100644 tools/workspace/ccd/repository.bzl delete mode 100644 tools/workspace/fcl/BUILD.bazel delete mode 100644 tools/workspace/fcl/package.BUILD.bazel delete mode 100644 tools/workspace/fcl/repository.bzl delete mode 100644 tools/workspace/fcl/version-from-xml.sed delete mode 100644 tools/workspace/msgpack/BUILD.bazel delete mode 100644 tools/workspace/msgpack/repository.bzl delete mode 100644 tools/workspace/stduuid/BUILD.bazel delete mode 100644 tools/workspace/stduuid/package.BUILD.bazel delete mode 100644 tools/workspace/stduuid/repository.bzl delete mode 100644 tools/workspace/suitesparse/BUILD.bazel delete mode 100644 tools/workspace/suitesparse/package.BUILD.bazel delete mode 100644 tools/workspace/suitesparse/repository.bzl diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel index f6a12db568da..c69ceb88d68c 100644 --- a/bindings/pydrake/BUILD.bazel +++ b/bindings/pydrake/BUILD.bazel @@ -563,17 +563,10 @@ PYI_FILES = [ "pydrake/common/yaml.pyi", "pydrake/examples/__init__.pyi", "pydrake/examples/_examples_extra.pyi", - "pydrake/examples/acrobot.pyi", - "pydrake/examples/compass_gait.pyi", - "pydrake/examples/manipulation_station.pyi", "pydrake/examples/multibody/__init__.pyi", "pydrake/examples/multibody/cart_pole_passive_simulation.pyi", "pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.pyi", "pydrake/examples/multibody/run_planar_scenegraph_visualizer.pyi", - "pydrake/examples/pendulum.pyi", - "pydrake/examples/quadrotor.pyi", - "pydrake/examples/rimless_wheel.pyi", - "pydrake/examples/van_der_pol.pyi", "pydrake/forwarddiff.pyi", "pydrake/geometry/__init__.pyi", "pydrake/lcm.pyi", diff --git a/bindings/pydrake/examples/BUILD.bazel b/bindings/pydrake/examples/BUILD.bazel index 76af1880b9b1..9239963984c1 100644 --- a/bindings/pydrake/examples/BUILD.bazel +++ b/bindings/pydrake/examples/BUILD.bazel @@ -44,13 +44,6 @@ drake_pybind_library( ], py_srcs = [ "_examples_extra.py", - "acrobot.py", - "compass_gait.py", - "manipulation_station.py", - "pendulum.py", - "quadrotor.py", - "rimless_wheel.py", - "van_der_pol.py", ], ) diff --git a/bindings/pydrake/examples/acrobot.py b/bindings/pydrake/examples/acrobot.py deleted file mode 100644 index 36bedb1d3575..000000000000 --- a/bindings/pydrake/examples/acrobot.py +++ /dev/null @@ -1,21 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - AcrobotGeometry, - AcrobotInput, - AcrobotParams, - AcrobotPlant, - AcrobotSpongController, - AcrobotState, - SpongControllerParams, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/compass_gait.py b/bindings/pydrake/examples/compass_gait.py deleted file mode 100644 index cca3cbea3405..000000000000 --- a/bindings/pydrake/examples/compass_gait.py +++ /dev/null @@ -1,18 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - CompassGait, - CompassGaitContinuousState, - CompassGaitGeometry, - CompassGaitParams, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/manipulation_station.py b/bindings/pydrake/examples/manipulation_station.py deleted file mode 100644 index fa695a8cb074..000000000000 --- a/bindings/pydrake/examples/manipulation_station.py +++ /dev/null @@ -1,20 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - CreateClutterClearingYcbObjectList, - CreateManipulationClassYcbObjectList, - IiwaCollisionModel, - ManipulationStation, - ManipulationStationHardwareInterface, - SchunkCollisionModel, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/pendulum.py b/bindings/pydrake/examples/pendulum.py deleted file mode 100644 index 86cf00f228f5..000000000000 --- a/bindings/pydrake/examples/pendulum.py +++ /dev/null @@ -1,19 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - PendulumGeometry, - PendulumInput, - PendulumParams, - PendulumPlant, - PendulumState, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/quadrotor.py b/bindings/pydrake/examples/quadrotor.py deleted file mode 100644 index 7d7f8a0e1e7f..000000000000 --- a/bindings/pydrake/examples/quadrotor.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - QuadrotorGeometry, - QuadrotorPlant, - StabilizingLQRController, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/rimless_wheel.py b/bindings/pydrake/examples/rimless_wheel.py deleted file mode 100644 index 3ff8751e84f3..000000000000 --- a/bindings/pydrake/examples/rimless_wheel.py +++ /dev/null @@ -1,18 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - RimlessWheel, - RimlessWheelContinuousState, - RimlessWheelGeometry, - RimlessWheelParams, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/examples/van_der_pol.py b/bindings/pydrake/examples/van_der_pol.py deleted file mode 100644 index 9276639236ec..000000000000 --- a/bindings/pydrake/examples/van_der_pol.py +++ /dev/null @@ -1,15 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.examples. -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.examples directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.examples import ( - VanDerPolOscillator, -) - -_warn_deprecated( - "Please import from the pydrake.examples module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/geometry/geometry_py_common.cc b/bindings/pydrake/geometry/geometry_py_common.cc index 7df11f31f915..7aabd3c52ee3 100644 --- a/bindings/pydrake/geometry/geometry_py_common.cc +++ b/bindings/pydrake/geometry/geometry_py_common.cc @@ -12,7 +12,6 @@ #include "drake/bindings/pydrake/common/serialize_pybind.h" #include "drake/bindings/pydrake/common/value_pybind.h" #include "drake/bindings/pydrake/documentation_pybind.h" -#include "drake/common/drake_deprecated.h" #include "drake/geometry/collision_filter_declaration.h" #include "drake/geometry/collision_filter_manager.h" #include "drake/geometry/geometry_frame.h" @@ -434,15 +433,6 @@ void DoScalarIndependentDefinitions(py::module m) { return Convex(info.first, info.second); })); - constexpr char doc_ConvexInitWithArgumentNameAbsoluteFilename[] = - "Convex(absolute_filename=...) is deprecated, and will be removed on " - "or around 2023-05-01. Please use Convex(filename=...) instead."; - - convex_cls.def(py_init_deprecated( - doc_ConvexInitWithArgumentNameAbsoluteFilename), - py::arg("absolute_filename"), py::arg("scale") = 1.0, - doc_ConvexInitWithArgumentNameAbsoluteFilename); - py::class_(m, "Cylinder", doc.Cylinder.doc) .def(py::init(), py::arg("radius"), py::arg("length"), doc.Cylinder.ctor.doc_2args) @@ -494,15 +484,6 @@ void DoScalarIndependentDefinitions(py::module m) { return Mesh(info.first, info.second); })); - constexpr char doc_MeshInitWithArgumentNameAbsoluteFilename[] = - "Mesh(absolute_filename=...) is deprecated, and will be removed on " - "or around 2023-05-01. Please use Mesh(filename=...) instead."; - - mesh_cls.def(py_init_deprecated( - doc_MeshInitWithArgumentNameAbsoluteFilename), - py::arg("absolute_filename"), py::arg("scale") = 1.0, - doc_MeshInitWithArgumentNameAbsoluteFilename); - py::class_(m, "Sphere", doc.Sphere.doc) .def(py::init(), py::arg("radius"), doc.Sphere.ctor.doc) .def("radius", &Sphere::radius, doc.Sphere.radius.doc) diff --git a/bindings/pydrake/geometry/test/common_test.py b/bindings/pydrake/geometry/test/common_test.py index c51f23f15419..0eddf1eb03a9 100644 --- a/bindings/pydrake/geometry/test/common_test.py +++ b/bindings/pydrake/geometry/test/common_test.py @@ -393,9 +393,6 @@ def test_shape_constructors(self): shape_copy = shape.Clone() self.assertIsInstance(shape_copy, shape_cls) self.assertIsNot(shape, shape_copy) - with catch_drake_warnings(expected_count=2): - mut.Mesh(absolute_filename="arbitrary/path", scale=1.0), - mut.Convex(absolute_filename="arbitrary/path", scale=1.0), def test_shapes(self): # We'll test some invariants on all shapes as inherited from the Shape diff --git a/bindings/pydrake/solvers/BUILD.bazel b/bindings/pydrake/solvers/BUILD.bazel index b51875497e5a..6ea9059132e0 100644 --- a/bindings/pydrake/solvers/BUILD.bazel +++ b/bindings/pydrake/solvers/BUILD.bazel @@ -78,21 +78,6 @@ drake_pybind_library( ], py_srcs = [ "_extra.py", - "augmented_lagrangian.py", - "branch_and_bound.py", - "clp.py", - "csdp.py", - "gurobi.py", - "ipopt.py", - "mathematicalprogram.py", - "mixed_integer_optimization_util.py", - "mixed_integer_rotation_constraint.py", - "mosek.py", - "nlopt.py", - "osqp.py", - "scs.py", - "sdpa_free_format.py", - "snopt.py", ], ) diff --git a/bindings/pydrake/solvers/augmented_lagrangian.py b/bindings/pydrake/solvers/augmented_lagrangian.py deleted file mode 100644 index 2917d5586cbb..000000000000 --- a/bindings/pydrake/solvers/augmented_lagrangian.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - AugmentedLagrangianNonsmooth, - AugmentedLagrangianSmooth, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/branch_and_bound.py b/bindings/pydrake/solvers/branch_and_bound.py deleted file mode 100644 index ec132bf01152..000000000000 --- a/bindings/pydrake/solvers/branch_and_bound.py +++ /dev/null @@ -1,16 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - MixedIntegerBranchAndBound, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/clp.py b/bindings/pydrake/solvers/clp.py deleted file mode 100644 index d4deb68e8d10..000000000000 --- a/bindings/pydrake/solvers/clp.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - ClpSolver, - ClpSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/csdp.py b/bindings/pydrake/solvers/csdp.py deleted file mode 100644 index c3c4d807f590..000000000000 --- a/bindings/pydrake/solvers/csdp.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - CsdpSolver, - CsdpSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/gurobi.py b/bindings/pydrake/solvers/gurobi.py deleted file mode 100644 index 2626af3771ba..000000000000 --- a/bindings/pydrake/solvers/gurobi.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - GurobiSolver, - GurobiSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/ipopt.py b/bindings/pydrake/solvers/ipopt.py deleted file mode 100644 index ab6dd1819464..000000000000 --- a/bindings/pydrake/solvers/ipopt.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - IpoptSolver, - IpoptSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/mathematicalprogram.py b/bindings/pydrake/solvers/mathematicalprogram.py deleted file mode 100644 index 17f77ef9cbe4..000000000000 --- a/bindings/pydrake/solvers/mathematicalprogram.py +++ /dev/null @@ -1,52 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - Binding, - BoundingBoxConstraint, - ChooseBestSolver, - CommonSolverOption, - Constraint, - Cost, - EvaluatorBase, - ExponentialConeConstraint, - GetAvailableSolvers, - GetProgramType, - L1NormCost, - L2NormCost, - LInfNormCost, - LinearComplementarityConstraint, - LinearConstraint, - LinearCost, - LinearEqualityConstraint, - LinearMatrixInequalityConstraint, - LorentzConeConstraint, - MakeFirstAvailableSolver, - MakeSolver, - MathematicalProgram, - MathematicalProgramResult, - PerspectiveQuadraticCost, - PositiveSemidefiniteConstraint, - ProgramType, - PyFunctionConstraint, - QuadraticConstraint, - QuadraticCost, - RotatedLorentzConeConstraint, - SolutionResult, - Solve, - SolverId, - SolverInterface, - SolverOptions, - SolverType, - VisualizationCallback, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/mixed_integer_optimization_util.py b/bindings/pydrake/solvers/mixed_integer_optimization_util.py deleted file mode 100644 index 6b05eb8204ce..000000000000 --- a/bindings/pydrake/solvers/mixed_integer_optimization_util.py +++ /dev/null @@ -1,20 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - AddBilinearProductMcCormickEnvelopeSos2, - AddLogarithmicSos1Constraint, - AddLogarithmicSos2Constraint, - AddSos2Constraint, - IntervalBinning, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/mixed_integer_rotation_constraint.py b/bindings/pydrake/solvers/mixed_integer_rotation_constraint.py deleted file mode 100644 index ac411de344aa..000000000000 --- a/bindings/pydrake/solvers/mixed_integer_rotation_constraint.py +++ /dev/null @@ -1,16 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - MixedIntegerRotationConstraintGenerator, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/mosek.py b/bindings/pydrake/solvers/mosek.py deleted file mode 100644 index 47213825c570..000000000000 --- a/bindings/pydrake/solvers/mosek.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - MosekSolver, - MosekSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/nlopt.py b/bindings/pydrake/solvers/nlopt.py deleted file mode 100644 index 16d3fa8d7de1..000000000000 --- a/bindings/pydrake/solvers/nlopt.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - NloptSolver, - NloptSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/osqp.py b/bindings/pydrake/solvers/osqp.py deleted file mode 100644 index b144e7bf018e..000000000000 --- a/bindings/pydrake/solvers/osqp.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - OsqpSolver, - OsqpSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/scs.py b/bindings/pydrake/solvers/scs.py deleted file mode 100644 index 9d7377905569..000000000000 --- a/bindings/pydrake/solvers/scs.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - ScsSolver, - ScsSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/sdpa_free_format.py b/bindings/pydrake/solvers/sdpa_free_format.py deleted file mode 100644 index baa6b9c5862e..000000000000 --- a/bindings/pydrake/solvers/sdpa_free_format.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - GenerateSDPA, - RemoveFreeVariableMethod, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/solvers/snopt.py b/bindings/pydrake/solvers/snopt.py deleted file mode 100644 index 3368e1f5f559..000000000000 --- a/bindings/pydrake/solvers/snopt.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Shim module that provides vestigial names for pydrake.solvers. - -Prefer not to use this import path in new code; all of the code in -this module can be imported from pydrake.solvers directly. -""" - -from pydrake.common.deprecation import _warn_deprecated - -from pydrake.solvers import ( - SnoptSolver, - SnoptSolverDetails, -) - -_warn_deprecated( - "Please import from the pydrake.solvers module directly, instead of the " - f"deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/systems/BUILD.bazel b/bindings/pydrake/systems/BUILD.bazel index 781ad6dec1dc..a2b1b2a7fe94 100644 --- a/bindings/pydrake/systems/BUILD.bazel +++ b/bindings/pydrake/systems/BUILD.bazel @@ -176,14 +176,6 @@ drake_pybind_library( ], ) -# 2023-05-01 Remove this target upon completion of deprecation. -drake_py_library( - name = "trajectory_optimization_py", - srcs = ["trajectory_optimization.py"], - imports = PACKAGE_INFO.py_imports, - deps = ["//bindings/pydrake/planning"], -) - # TODO(eric.cousineau): Put this under test once `pydot` is in # `install_prereqs.sh`. drake_py_library( @@ -312,7 +304,6 @@ PY_LIBRARIES = [ ":perception_py", ":planar_scenegraph_visualizer_py", ":pyplot_visualizer_py", - ":trajectory_optimization_py", ] # Symbol roll-up (for user ease). @@ -556,14 +547,6 @@ drake_py_unittest( ], ) -drake_py_unittest( - name = "trajectory_optimization_dep_test", - deps = [ - ":trajectory_optimization_py", - "//bindings/pydrake/common/test_utilities:deprecation_py", - ], -) - drake_py_unittest( name = "monte_carlo_test", deps = [ diff --git a/bindings/pydrake/systems/test/trajectory_optimization_dep_test.py b/bindings/pydrake/systems/test/trajectory_optimization_dep_test.py deleted file mode 100644 index 31adfb16564b..000000000000 --- a/bindings/pydrake/systems/test/trajectory_optimization_dep_test.py +++ /dev/null @@ -1,23 +0,0 @@ -from pydrake.common.test_utilities.deprecation import catch_drake_warnings - -import unittest - - -class TestDeprecation(unittest.TestCase): - def test_deprecated_symbols_exist(self): - # The whole point of this test is that we can access the same symbols - # tested in - # /bindings/pydrake/planning/test/trajectory_optimization_test.py via - # the old, deprecated module path. We should get a single deprecation - # warning on the module. Otherwise, all of the given symbols should be - # successfully imported. - with catch_drake_warnings(expected_count=1) as w: - from pydrake.systems.trajectory_optimization import ( - AddDirectCollocationConstraint, - DirectCollocation, - DirectCollocationConstraint, - DirectTranscription, - KinematicTrajectoryOptimization, - TimeStep, - ) - self.assertIn("2023-05-01", str(w[0].message)) diff --git a/bindings/pydrake/systems/trajectory_optimization.py b/bindings/pydrake/systems/trajectory_optimization.py deleted file mode 100644 index 8d1cfa9da15c..000000000000 --- a/bindings/pydrake/systems/trajectory_optimization.py +++ /dev/null @@ -1,17 +0,0 @@ -"""Deprecated aliases to planning resources.""" - -from pydrake.common.deprecation import _warn_deprecated - -# Note: This imports more than just the trajectory optimization symbols -# (because planning is flat). If this is too generous in exposing planning -# symbols in this module, we'll need to enumerate all the former members of -# this module explicitly. -from pydrake.planning import * -# Historically, TimeStep belonged to the module; pull it out to maintain -# backwards compatibility until completed deprecation. -TimeStep = DirectTranscription.TimeStep - -_warn_deprecated( - "Please import the trajectory optimization from pydrake.planning instead " - f"of the deprecated {__name__} submodule.", - date="2023-05-01", stacklevel=3) diff --git a/bindings/pydrake/visualization/BUILD.bazel b/bindings/pydrake/visualization/BUILD.bazel index 10d490d2ca1e..ccb593f425c3 100644 --- a/bindings/pydrake/visualization/BUILD.bazel +++ b/bindings/pydrake/visualization/BUILD.bazel @@ -41,6 +41,7 @@ drake_pybind_library( package_info = PACKAGE_INFO, py_deps = [ "//bindings/pydrake/multibody", + "//bindings/pydrake/planning", "//bindings/pydrake/solvers", "//bindings/pydrake/systems", "//bindings/pydrake/geometry", diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile index 0048dfd546c2..0be88d740d2a 100644 --- a/setup/mac/binary_distribution/Brewfile +++ b/setup/mac/binary_distribution/Brewfile @@ -18,7 +18,6 @@ brew 'ipopt' brew 'lz4' brew 'nlopt' brew 'numpy' -brew 'msgpack-cxx' brew 'openblas' brew 'pkg-config' brew 'python@3.11' diff --git a/setup/mac/install_prereqs.sh b/setup/mac/install_prereqs.sh index 859fb7c7b4d9..68c553b200d5 100755 --- a/setup/mac/install_prereqs.sh +++ b/setup/mac/install_prereqs.sh @@ -10,10 +10,6 @@ source_distribution_args=() while [ "${1:-}" != "" ]; do case "$1" in - # Maintainer-only tools are only supported on Ubuntu - --with-maintainer-only) - echo 'Warning: Maintainer-only tools are only supported on Ubuntu. The "--with-maintainer-only" flag will do nothing. This flag will be removed from Drake on or after 2023-05-01.' - ;; # Do NOT install prerequisites that are only needed to build and/or run # unit tests, i.e., those prerequisites that are not dependencies of # bazel { build, run } //:install. diff --git a/setup/ubuntu/source_distribution/packages-focal.txt b/setup/ubuntu/source_distribution/packages-focal.txt index 98dbdd8e9eca..af0fd3cb2606 100644 --- a/setup/ubuntu/source_distribution/packages-focal.txt +++ b/setup/ubuntu/source_distribution/packages-focal.txt @@ -19,7 +19,6 @@ libjpeg-turbo8-dev liblapack-dev liblz4-dev liblzma-dev -libmsgpack-dev libmumps-seq-dev libnlopt-cxx-dev libopengl-dev diff --git a/setup/ubuntu/source_distribution/packages-jammy.txt b/setup/ubuntu/source_distribution/packages-jammy.txt index 5c8698103b66..6e16b6925f9c 100644 --- a/setup/ubuntu/source_distribution/packages-jammy.txt +++ b/setup/ubuntu/source_distribution/packages-jammy.txt @@ -18,7 +18,6 @@ libjpeg-turbo8-dev liblapack-dev liblz4-dev liblzma-dev -libmsgpack-dev libmumps-seq-dev libnlopt-cxx-dev libopengl-dev diff --git a/systems/trajectory_optimization/BUILD.bazel b/systems/trajectory_optimization/BUILD.bazel deleted file mode 100644 index ff0443ce45c1..000000000000 --- a/systems/trajectory_optimization/BUILD.bazel +++ /dev/null @@ -1,152 +0,0 @@ -# TODO(SeanCurtis-TRI): 2023-05-01 this entire directory tree gets removed -# upon completion of deprecation period. - -load( - "@drake//tools/skylark:drake_cc.bzl", - "drake_cc_googletest", - "drake_cc_library", - "drake_cc_package_library", -) -load("//tools/lint:lint.bzl", "add_lint_tests") - -package(default_visibility = ["//visibility:public"]) - -drake_cc_package_library( - name = "trajectory_optimization", - visibility = ["//visibility:public"], - deps = [ - ":direct_collocation", - ":direct_transcription", - ":integration_constraint", - ":kinematic_trajectory_optimization", - ":multiple_shooting", - ":sequential_expression_manager", - ], -) - -_STUB_HDRS = [ - "direct_collocation.h", - "direct_transcription.h", - "integration_constraint.h", - "kinematic_trajectory_optimization.h", - "multiple_shooting.h", - "sequential_expression_manager.h", -] - -[ - genrule( - name = "_cp_" + hdr, - srcs = ["stub/" + hdr], - outs = [hdr], - cmd = "cp $< $@", - tags = ["nolint"], - visibility = ["//visibility:private"], - ) - for hdr in _STUB_HDRS -] - -drake_cc_library( - name = "sequential_expression_manager", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:sequential_expression_manager instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - "//common:essential", - "//planning/trajectory_optimization:sequential_expression_manager", - ], -) - -drake_cc_library( - name = "multiple_shooting", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:multiple_shooting instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - ":sequential_expression_manager", - "//common:essential", - "//planning/trajectory_optimization:multiple_shooting", - ], -) - -drake_cc_library( - name = "direct_collocation", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:direct_collocation instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - ":multiple_shooting", - "//common:essential", - "//planning/trajectory_optimization:direct_collocation", - ], -) - -drake_cc_library( - name = "direct_transcription", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:direct_transcription instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - ":multiple_shooting", - "//common:essential", - "//planning/trajectory_optimization:direct_transcription", - ], -) - -drake_cc_library( - name = "kinematic_trajectory_optimization", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:kinematic_trajectory_optimization instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - "//common:essential", - "//planning/trajectory_optimization:kinematic_trajectory_optimization", - ], -) - -drake_cc_library( - name = "integration_constraint", - hdrs = _STUB_HDRS, - deprecation = "This label is deprecated and will be removed from Drake on 2023-05-01; as a replacement, use //planning/trajectory_optimization:integration_constraint instead.", # noqa - tags = [ - "manual", - "nolint", - ], - deps = [ - "//common:essential", - "//planning/trajectory_optimization:integration_constraint", - ], -) - -# === test/ === - -# TODO(SeanCurtis-TRI): 2023-05-01 remove along with deprecation. -drake_cc_googletest( - name = "deprecation_test", - copts = [ - "-Wno-cpp", - "-Wno-deprecated-declarations", - ], - data = [ - "//manipulation/models/iiwa_description:models", - ], - deps = [ - ":trajectory_optimization", - "//common/trajectories:piecewise_polynomial", - "//systems/primitives:linear_system", - ], -) diff --git a/systems/trajectory_optimization/stub/direct_collocation.h b/systems/trajectory_optimization/stub/direct_collocation.h deleted file mode 100644 index 2a18d04a8e1e..000000000000 --- a/systems/trajectory_optimization/stub/direct_collocation.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/direct_collocation.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/direct_collocation.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/direct_collocation.h" -// Deprecated includes from original include file. -#include "drake/systems/trajectory_optimization/multiple_shooting.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { - -using DirectCollocation DRAKE_DEPRECATED( - "2023-05-01", - "Please use drake::planning::trajectory_optimization::DirectCollocation " - "instead.") = drake::planning::trajectory_optimization::DirectCollocation; - -using DirectCollocationConstraint DRAKE_DEPRECATED( - "2023-05-01", - "Please use " - "drake::planning::trajectory_optimization::DirectCollocationConstraint " - "instead.") = - drake::planning::trajectory_optimization::DirectCollocationConstraint; - -// We can't apply the deprecated attribute to this function alias (it's not -// *truly* an alias). We'll rely on the #warning at the top as sufficient. -// The odds that they are importing the right header but exercising the function -// from the wrong namespace is small. -using planning::trajectory_optimization::AddDirectCollocationConstraint; - -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/stub/direct_transcription.h b/systems/trajectory_optimization/stub/direct_transcription.h deleted file mode 100644 index f801c423c1a3..000000000000 --- a/systems/trajectory_optimization/stub/direct_transcription.h +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/direct_transcription.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/direct_transcription.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/direct_transcription.h" -// Deprecated includes from original include file. -#include "drake/systems/trajectory_optimization/multiple_shooting.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { - -using TimeStep DRAKE_DEPRECATED( - "2023-05-01", - "Please use drake::planning::trajectory_optimization::TimeStep instead.") = - drake::planning::trajectory_optimization::TimeStep; - -using DirectTranscription DRAKE_DEPRECATED( - "2023-05-01", - "Please use drake::planning::trajectory_optimization::DirectTranscription " - "instead.") = drake::planning::trajectory_optimization::DirectTranscription; - -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/stub/integration_constraint.h b/systems/trajectory_optimization/stub/integration_constraint.h deleted file mode 100644 index c09f35364c31..000000000000 --- a/systems/trajectory_optimization/stub/integration_constraint.h +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/integration_constraint.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/integration_constraint.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/integration_constraint.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { - -using MidPointIntegrationConstraint DRAKE_DEPRECATED( - "2023-05-01", - "Please use " - "drake::planning::trajectory_optimization::MidPointIntegrationConstraint " - "instead.") = - drake::planning::trajectory_optimization::MidPointIntegrationConstraint; - -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/stub/kinematic_trajectory_optimization.h b/systems/trajectory_optimization/stub/kinematic_trajectory_optimization.h deleted file mode 100644 index 549f516ee580..000000000000 --- a/systems/trajectory_optimization/stub/kinematic_trajectory_optimization.h +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/kinematic_trajectory_optimization.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/kinematic_trajectory_optimization.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/kinematic_trajectory_optimization.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { - -using KinematicTrajectoryOptimization DRAKE_DEPRECATED( - "2023-05-01", - "Please use " - "drake::planning::trajectory_optimization::KinematicTrajectoryOptimization " - "instead.") = - drake::planning::trajectory_optimization::KinematicTrajectoryOptimization; - -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/stub/multiple_shooting.h b/systems/trajectory_optimization/stub/multiple_shooting.h deleted file mode 100644 index d8d0a9091cad..000000000000 --- a/systems/trajectory_optimization/stub/multiple_shooting.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/multiple_shooting.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/multiple_shooting.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/multiple_shooting.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { - -using MultipleShooting DRAKE_DEPRECATED( - "2023-05-01", - "Please use drake::planning::trajectory_optimization::MultipleShooting " - "instead.") = drake::planning::trajectory_optimization::MultipleShooting; - -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/stub/sequential_expression_manager.h b/systems/trajectory_optimization/stub/sequential_expression_manager.h deleted file mode 100644 index c38fe24137b7..000000000000 --- a/systems/trajectory_optimization/stub/sequential_expression_manager.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#warning The include path drake/systems/trajectory_optimization/sequential_expression_manager.h is deprecated and will be removed on or after 2023-05-01; instead, use drake/planning/trajectory_optimization/sequential_expression_manager.h. - -#include "drake/common/drake_deprecated.h" -#include "drake/planning/trajectory_optimization/sequential_expression_manager.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { -namespace internal { - -using SequentialExpressionManager DRAKE_DEPRECATED( - "2023-05-01", - "Please use " - "drake::planning::trajectory_optimization::SequentialExpressionManager " - "instead.") = drake::planning::trajectory_optimization::internal:: - SequentialExpressionManager; - -} // namespace internal -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/systems/trajectory_optimization/test/deprecation_test.cc b/systems/trajectory_optimization/test/deprecation_test.cc deleted file mode 100644 index 60aa6f1e9a21..000000000000 --- a/systems/trajectory_optimization/test/deprecation_test.cc +++ /dev/null @@ -1,108 +0,0 @@ -// This file serves to check that our deprecation shims compile successfully, -// aside from warning messages. We can remove this file entirely once the -// deprecation period ends. -#include - -#include - -#include "drake/common/trajectories/piecewise_polynomial.h" -#include "drake/systems/primitives/linear_system.h" -#include "drake/systems/trajectory_optimization/direct_collocation.h" -#include "drake/systems/trajectory_optimization/direct_transcription.h" -#include "drake/systems/trajectory_optimization/integration_constraint.h" -#include "drake/systems/trajectory_optimization/kinematic_trajectory_optimization.h" -#include "drake/systems/trajectory_optimization/multiple_shooting.h" -#include "drake/systems/trajectory_optimization/sequential_expression_manager.h" - -namespace drake { -namespace systems { -namespace trajectory_optimization { -namespace { - -using trajectories::PiecewisePolynomial; - -GTEST_TEST(PathDeprecation, DirectCollocationAndConstraint) { - // Exercise the *single* type declared in the header. - // xdot = -x. - systems::LinearSystem plant( - Vector1d(-1.0), // A - Eigen::Matrix::Zero(), // B - Eigen::Matrix::Zero(), // C - Eigen::Matrix::Zero()); // D - - auto context = plant.CreateDefaultContext(); - const int kNumSampleTimes{10}; - const double kFixedTimeStep{0.1}; - EXPECT_NO_THROW(DirectCollocation(&plant, *context, kNumSampleTimes, - kFixedTimeStep, kFixedTimeStep)); - EXPECT_NO_THROW(DirectCollocationConstraint(plant, *context)); - - EXPECT_TRUE(std::is_function_v); -} - -GTEST_TEST(PathDeprecation, DirectTranscription) { - Eigen::Matrix2d A, B; - // clang-format off - A << 1, 2, - 3, 4; - B << 5, 6, - 7, 8; - // clang-format on - const Eigen::MatrixXd C(0, 2), D(0, 2); - const double kTimeStep = .1; - LinearSystem system(A, B, C, D, kTimeStep); - - const auto context = system.CreateDefaultContext(); - int kNumSampleTimes = 3; - - // Main class defined in header. - EXPECT_NO_THROW(DirectTranscription(&system, *context, kNumSampleTimes)); - - // Supporting struct defined in header. - EXPECT_NO_THROW(TimeStep(0.5)); -} - -// Minimum empty class to confirm that the base class exists. -class MyDirectTrajOpt : public MultipleShooting { - public: - // Arbitrary constants that make the base constructor sufficiently happy. - MyDirectTrajOpt() : MultipleShooting(1, 1, 2, 1) {} - - PiecewisePolynomial ReconstructInputTrajectory( - const solvers::MathematicalProgramResult&) const override { - return PiecewisePolynomial(); - }; - - PiecewisePolynomial ReconstructStateTrajectory( - const solvers::MathematicalProgramResult&) const override { - return PiecewisePolynomial(); - }; - - private: - void DoAddRunningCost(const symbolic::Expression& g) override {} -}; - -GTEST_TEST(PathDeprecation, MultipleShootings) { - // Include *both* types declared in the header file. - EXPECT_NO_THROW(MyDirectTrajOpt()); -} - -GTEST_TEST(PathDeprecation, IntegrationConstraint) { - // Arbitrary constants that make the base constructor sufficiently happy. - EXPECT_NO_THROW(MidPointIntegrationConstraint(1)); -} - -GTEST_TEST(PathDeprecation, KinematicTrajectoryOptimization) { - // Arbitrary constants that make the base constructor sufficiently happy. - EXPECT_NO_THROW(KinematicTrajectoryOptimization(5, 5)); -} - -GTEST_TEST(PathDeprecation, SequentialExpressionManager) { - // Arbitrary constants that make the base constructor sufficiently happy. - EXPECT_NO_THROW(internal::SequentialExpressionManager(1)); -} - -} // namespace -} // namespace trajectory_optimization -} // namespace systems -} // namespace drake diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl index cd9bdb14807f..6131e63145e7 100644 --- a/tools/install/libdrake/build_components.bzl +++ b/tools/install/libdrake/build_components.bzl @@ -86,6 +86,5 @@ LIBDRAKE_COMPONENTS = [ "//systems/primitives", "//systems/rendering", "//systems/sensors", - "//systems/trajectory_optimization", "//visualization", ] diff --git a/tools/workspace/ccd/BUILD.bazel b/tools/workspace/ccd/BUILD.bazel deleted file mode 100644 index 67914ea7e0a0..000000000000 --- a/tools/workspace/ccd/BUILD.bazel +++ /dev/null @@ -1,3 +0,0 @@ -load("//tools/lint:lint.bzl", "add_lint_tests") - -add_lint_tests() diff --git a/tools/workspace/ccd/package.BUILD.bazel b/tools/workspace/ccd/package.BUILD.bazel deleted file mode 100644 index a38f00f4aa61..000000000000 --- a/tools/workspace/ccd/package.BUILD.bazel +++ /dev/null @@ -1,60 +0,0 @@ -# -*- bazel -*- - -load( - "@drake//tools/workspace:cmake_configure_file.bzl", - "cmake_configure_file", -) - -licenses(["notice"]) # BSD-3-Clause - -package( - default_visibility = ["//visibility:public"], -) - -# Generates config.h based on the defines= we want in Drake. -cmake_configure_file( - name = "config", - src = "src/ccd/config.h.cmake.in", - out = "src/ccd/config.h", - defines = ["CCD_DOUBLE"], - visibility = ["//visibility:private"], -) - -# Guessing headers with -# install(... -# guess_hdrs = "PACKAGE", -# ) -# fails and lists internal headers in addition to the public headers. -CCD_PUBLIC_HEADERS = [ - "src/ccd/ccd.h", - "src/ccd/config.h", - "src/ccd/compiler.h", - "src/ccd/quat.h", - "src/ccd/vec3.h", - "src/ccd/ccd_export.h", -] - -# Options used when building the ccd code. Handled by cmake in upstream code -CCD_COPTS = [ - "-Wno-all", - # N.B. Because ccd is C code (not C++ code), we can set hidden visibility - # globally, rather than laundering it though our vendor_cxx tool. - "-fvisibility=hidden", -] - -# Generates the library exported to users. Upstream's CMake code lists out all -# sources instead of globbing, but conveniently puts the public headers in one -# place and private sources and headers in another; we'll use globbing here. -cc_library( - name = "ccd", - srcs = glob([ - "src/*.c", - "src/*.h", - ]), - hdrs = CCD_PUBLIC_HEADERS, - copts = CCD_COPTS, - defines = ["CCD_STATIC_DEFINE"], - includes = ["src"], - linkstatic = 1, - deprecation = "DRAKE DEPRECATED: The @ccd external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.", # noqa, -) diff --git a/tools/workspace/ccd/repository.bzl b/tools/workspace/ccd/repository.bzl deleted file mode 100644 index 55ae0fb1b51b..000000000000 --- a/tools/workspace/ccd/repository.bzl +++ /dev/null @@ -1,13 +0,0 @@ -load("@drake//tools/workspace:github.bzl", "github_archive") - -def ccd_repository( - name, - mirrors = None): - github_archive( - name = name, - repository = "danfis/libccd", - commit = "7931e764a19ef6b21b443376c699bbc9c6d4fba8", - sha256 = "479994a86d32e2effcaad64204142000ee6b6b291fd1859ac6710aee8d00a482", # noqa - build_file = ":package.BUILD.bazel", - mirrors = mirrors, - ) diff --git a/tools/workspace/default.bzl b/tools/workspace/default.bzl index b7a4c1a06600..1892a3179cc9 100644 --- a/tools/workspace/default.bzl +++ b/tools/workspace/default.bzl @@ -1,4 +1,3 @@ -load("@drake//tools/workspace:deprecation.bzl", "add_deprecation") load("@drake//tools/workspace:mirrors.bzl", "DEFAULT_MIRRORS") load("@drake//tools/workspace:os.bzl", "os_repository") load("@drake//tools/workspace/abseil_cpp_internal:repository.bzl", "abseil_cpp_internal_repository") # noqa @@ -6,7 +5,6 @@ load("@drake//tools/workspace/bazel_skylib:repository.bzl", "bazel_skylib_reposi load("@drake//tools/workspace/blas:repository.bzl", "blas_repository") load("@drake//tools/workspace/buildifier:repository.bzl", "buildifier_repository") # noqa load("@drake//tools/workspace/cc:repository.bzl", "cc_repository") -load("@drake//tools/workspace/ccd:repository.bzl", "ccd_repository") load("@drake//tools/workspace/ccd_internal:repository.bzl", "ccd_internal_repository") # noqa load("@drake//tools/workspace/clang_cindex_python3_internal:repository.bzl", "clang_cindex_python3_internal_repository") # noqa load("@drake//tools/workspace/clp:repository.bzl", "clp_repository") @@ -23,7 +21,6 @@ load("@drake//tools/workspace/drake_models:repository.bzl", "drake_models_reposi load("@drake//tools/workspace/drake_visualizer:repository.bzl", "drake_visualizer_repository") # noqa load("@drake//tools/workspace/eigen:repository.bzl", "eigen_repository") load("@drake//tools/workspace/expat:repository.bzl", "expat_repository") -load("@drake//tools/workspace/fcl:repository.bzl", "fcl_repository") # noqa load("@drake//tools/workspace/fcl_internal:repository.bzl", "fcl_internal_repository") # noqa load("@drake//tools/workspace/fmt:repository.bzl", "fmt_repository") load("@drake//tools/workspace/gflags:repository.bzl", "gflags_repository") @@ -53,7 +50,6 @@ load("@drake//tools/workspace/libpng:repository.bzl", "libpng_repository") load("@drake//tools/workspace/libtiff:repository.bzl", "libtiff_repository") load("@drake//tools/workspace/meshcat:repository.bzl", "meshcat_repository") load("@drake//tools/workspace/mosek:repository.bzl", "mosek_repository") -load("@drake//tools/workspace/msgpack:repository.bzl", "msgpack_repository") load("@drake//tools/workspace/msgpack_internal:repository.bzl", "msgpack_internal_repository") # noqa load("@drake//tools/workspace/mypy_extensions_internal:repository.bzl", "mypy_extensions_internal_repository") # noqa load("@drake//tools/workspace/mypy_internal:repository.bzl", "mypy_internal_repository") # noqa @@ -83,10 +79,8 @@ load("@drake//tools/workspace/snopt:repository.bzl", "snopt_repository") load("@drake//tools/workspace/spdlog:repository.bzl", "spdlog_repository") load("@drake//tools/workspace/stable_baselines3_internal:repository.bzl", "stable_baselines3_internal_repository") # noqa load("@drake//tools/workspace/statsjs:repository.bzl", "statsjs_repository") -load("@drake//tools/workspace/stduuid:repository.bzl", "stduuid_repository") load("@drake//tools/workspace/stduuid_internal:repository.bzl", "stduuid_internal_repository") # noqa load("@drake//tools/workspace/styleguide:repository.bzl", "styleguide_repository") # noqa -load("@drake//tools/workspace/suitesparse:repository.bzl", "suitesparse_repository") # noqa load("@drake//tools/workspace/suitesparse_internal:repository.bzl", "suitesparse_internal_repository") # noqa load("@drake//tools/workspace/tinyobjloader:repository.bzl", "tinyobjloader_repository") # noqa load("@drake//tools/workspace/tinyxml2_internal:repository.bzl", "tinyxml2_internal_repository") # noqa @@ -122,10 +116,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): buildifier_repository(name = "buildifier", mirrors = mirrors) if "cc" not in excludes: cc_repository(name = "cc") - if "ccd" not in excludes: - # N.B. This repository is deprecated for removal on 2023-05-01. - # For details see https://github.com/RobotLocomotion/drake/pull/18611. - ccd_repository(name = "ccd", mirrors = mirrors) if "ccd_internal" not in excludes: ccd_internal_repository(name = "ccd_internal", mirrors = mirrors) if "clang_cindex_python3_internal" not in excludes: @@ -160,10 +150,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): eigen_repository(name = "eigen") if "expat" not in excludes: expat_repository(name = "expat") - if "fcl" not in excludes: - # N.B. This repository is deprecated for removal on 2023-05-01. - # For details see https://github.com/RobotLocomotion/drake/pull/18611. - fcl_repository(name = "fcl", mirrors = mirrors) if "fcl_internal" not in excludes: fcl_internal_repository(name = "fcl_internal", mirrors = mirrors) if "fmt" not in excludes: @@ -222,12 +208,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): meshcat_repository(name = "meshcat", mirrors = mirrors) if "mosek" not in excludes: mosek_repository(name = "mosek") - if "msgpack" not in excludes: - # N.B. This repository is deprecated for removal on 2023-05-01. - # For details see https://github.com/RobotLocomotion/drake/pull/18559. - # When this is removed (on 2023-05-01), we should also edit the - # setup/... package lists to remove msgpack. - msgpack_repository(name = "msgpack") if "msgpack_internal" not in excludes: msgpack_internal_repository(name = "msgpack_internal", mirrors = mirrors) # noqa if "mypy_extensions_internal" not in excludes: @@ -250,12 +230,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): optitrack_driver_repository(name = "optitrack_driver", mirrors = mirrors) # noqa if "org_apache_xmlgraphics_commons" not in excludes: org_apache_xmlgraphics_commons_repository(name = "org_apache_xmlgraphics_commons", mirrors = mirrors) # noqa - if "osqp" not in excludes: - add_deprecation( - name = "osqp", - date = "2023-05-01", - cc_aliases = {"osqp": "@osqp_internal//:osqp"}, - ) if "osqp_internal" not in excludes: osqp_internal_repository(name = "osqp_internal", mirrors = mirrors) if "petsc" not in excludes: @@ -270,12 +244,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): pycodestyle_repository(name = "pycodestyle", mirrors = mirrors) if "python" not in excludes: python_repository(name = "python") - if "qdldl" not in excludes: - add_deprecation( - name = "qdldl", - date = "2023-05-01", - cc_aliases = {"qdldl": "@qdldl_internal//:qdldl"}, - ) if "qdldl_internal" not in excludes: qdldl_internal_repository(name = "qdldl_internal", mirrors = mirrors) if "qhull_internal" not in excludes: @@ -286,12 +254,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): rules_pkg_repository(name = "rules_pkg", mirrors = mirrors) if "rules_python" not in excludes: rules_python_repository(name = "rules_python", mirrors = mirrors) - if "scs" not in excludes: - add_deprecation( - name = "scs", - date = "2023-05-01", - cc_aliases = {"scsdir": "@scs_internal//:scsdir"}, - ) if "scs_internal" not in excludes: scs_internal_repository(name = "scs_internal", mirrors = mirrors) if "sdformat_internal" not in excludes: @@ -304,15 +266,10 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS): stable_baselines3_internal_repository(name = "stable_baselines3_internal", mirrors = mirrors) # noqa if "statsjs" not in excludes: statsjs_repository(name = "statsjs", mirrors = mirrors) - if "stduuid" not in excludes: - stduuid_repository(name = "stduuid", mirrors = mirrors) if "stduuid_internal" not in excludes: stduuid_internal_repository(name = "stduuid_internal", mirrors = mirrors) # noqa if "styleguide" not in excludes: styleguide_repository(name = "styleguide", mirrors = mirrors) - if "suitesparse" not in excludes: - # N.B. This repository is deprecated for removal on 2023-05-01. - suitesparse_repository(name = "suitesparse") if "suitesparse_internal" not in excludes: suitesparse_internal_repository(name = "suitesparse_internal", mirrors = mirrors) # noqa if "tinyobjloader" not in excludes: diff --git a/tools/workspace/fcl/BUILD.bazel b/tools/workspace/fcl/BUILD.bazel deleted file mode 100644 index 827e039debed..000000000000 --- a/tools/workspace/fcl/BUILD.bazel +++ /dev/null @@ -1,5 +0,0 @@ -load("//tools/lint:lint.bzl", "add_lint_tests") - -exports_files(["version-from-xml.sed"]) - -add_lint_tests() diff --git a/tools/workspace/fcl/package.BUILD.bazel b/tools/workspace/fcl/package.BUILD.bazel deleted file mode 100644 index e215211368ac..000000000000 --- a/tools/workspace/fcl/package.BUILD.bazel +++ /dev/null @@ -1,136 +0,0 @@ -# -*- bazel -*- - -load( - "@drake//tools/workspace:cmake_configure_file.bzl", - "cmake_configure_file", -) -load( - "@drake//tools/workspace:generate_export_header.bzl", - "generate_export_header", -) -load( - "@drake//tools/workspace:generate_include_header.bzl", - "drake_generate_include_header", -) - -licenses(["notice"]) # BSD-3-Clause - -package( - default_visibility = ["//visibility:public"], -) - -# Generate header to provide ABI export symbols for fcl. -generate_export_header( - out = "include/fcl/export.h", - lib = "fcl", - static_define = "FCL_STATIC_DEFINE", -) - -# Generates a version.cmake stub based on package.xml contents. -genrule( - name = "version-from-xml.cmake_genrule", - srcs = [ - "package.xml", - "@drake//tools/workspace/fcl:version-from-xml.sed", - ], - outs = [ - "version-from-xml.cmake", - ], - cmd = " ".join([ - "sed", - "-f $(execpath @drake//tools/workspace/fcl:version-from-xml.sed)", - "-n $(execpath package.xml) > $@", - "&&", - "test -s $@", - ]), -) - -# Generates config.h based on the version numbers in CMake code. -cmake_configure_file( - name = "config", - src = "include/fcl/config.h.in", - out = "include/fcl/config.h", - cmakelists = [ - ":version-from-xml.cmake", - ], - defines = [ - "OCTOMAP_MAJOR_VERSION=0", - "OCTOMAP_MINOR_VERSION=0", - "OCTOMAP_PATCH_VERSION=0", - "GENERATED_FILE_MARKER=GENERATED FILE DO NOT EDIT", - ], - visibility = ["//visibility:private"], -) - -# Provide all headers (except octomap-related ones) for simplicity, even -# though many of these will not have their '*.cpp' mate compiled. -_HDRS = glob( - include = [ - "include/**/*.h", - ], - exclude = [ - "**/octree/**", - ], - allow_empty = False, -) - -# To minimize the build footprint, only build the fraction of FCL that is -# needed by Drake. -_DRAKE_RELEVANT_SRCS = glob( - include = [ - "src/**/*.cpp", - ], - exclude = [ - # We use none of this code. - "**/*conservative_advancement*.cpp", - "**/*continuous_collision*.cpp", - "**/octree/**", - "src/common/**", - "src/math/motion/**", - "src/math/sampler/**", - # We list out the few of these that we need immediately below. - "src/broadphase/*.cpp", - "src/broadphase/detail/*.cpp", - "src/math/*.cpp", - "src/math/detail/*.cpp", - ], - allow_empty = False, -) + [ - "src/broadphase/broadphase_collision_manager.cpp", - "src/broadphase/broadphase_dynamic_AABB_tree.cpp", - "src/broadphase/detail/morton.cpp", - "src/math/geometry.cpp", - "src/math/triangle.cpp", - "src/math/detail/polysolver.cpp", - "src/math/detail/project.cpp", -] - -# Generates fcl.h, which consists of #include statements for *all* of the other -# headers in the library (!!!). The first line is '#pragma once' followed by -# one line like '#include "fcl/common/types.h"' for each non-generated header. -drake_generate_include_header( - name = "fcl_h_genrule", - out = "include/fcl/fcl.h", - hdrs = _HDRS, -) - -cc_library( - name = "fcl", - srcs = _DRAKE_RELEVANT_SRCS, - hdrs = _HDRS + [ - ":config", - ":fcl_h_genrule", - ":include/fcl/export.h", - ], - copts = ["-fvisibility=hidden"], - defines = [ - "FCL_STATIC_DEFINE", - ], - includes = ["include"], - linkstatic = 1, - deps = [ - "@ccd", - "@eigen", - ], - deprecation = "DRAKE DEPRECATED: The @fcl external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.", # noqa, -) diff --git a/tools/workspace/fcl/repository.bzl b/tools/workspace/fcl/repository.bzl deleted file mode 100644 index 551ffb03b207..000000000000 --- a/tools/workspace/fcl/repository.bzl +++ /dev/null @@ -1,13 +0,0 @@ -load("@drake//tools/workspace:github.bzl", "github_archive") - -def fcl_repository( - name, - mirrors = None): - github_archive( - name = name, - repository = "flexible-collision-library/fcl", - commit = "df2702ca5e703dec98ebd725782ce13862e87fc8", - sha256 = "3ebcf2470a3ee372440cdec4cb78d1723411c3cf84f419679c2c85317c4c2dae", # noqa - build_file = ":package.BUILD.bazel", - mirrors = mirrors, - ) diff --git a/tools/workspace/fcl/version-from-xml.sed b/tools/workspace/fcl/version-from-xml.sed deleted file mode 100644 index 7deca92e612a..000000000000 --- a/tools/workspace/fcl/version-from-xml.sed +++ /dev/null @@ -1,4 +0,0 @@ -s|.*\(\([0-9]*\)\.\([0-9]*\)\.\([0-9]*\)\).*|set(FCL_VERSION \1)\ -set(FCL_MAJOR_VERSION \2)\ -set(FCL_MINOR_VERSION \3)\ -set(FCL_PATCH_VERSION \4)|p diff --git a/tools/workspace/msgpack/BUILD.bazel b/tools/workspace/msgpack/BUILD.bazel deleted file mode 100644 index b77b93ae0dbc..000000000000 --- a/tools/workspace/msgpack/BUILD.bazel +++ /dev/null @@ -1,6 +0,0 @@ -# This file exists to make our directory into a Bazel package, so that our -# neighboring *.bzl file can be loaded elsewhere. - -load("//tools/lint:lint.bzl", "add_lint_tests") - -add_lint_tests() diff --git a/tools/workspace/msgpack/repository.bzl b/tools/workspace/msgpack/repository.bzl deleted file mode 100644 index 86efe8267095..000000000000 --- a/tools/workspace/msgpack/repository.bzl +++ /dev/null @@ -1,65 +0,0 @@ -""" -On Ubuntu, pkg-config is used to locate the msgpack headers. On macOS, -no pkg-config file is installed, but the msgpack headers are always -located at ${homebrew_prefix}/opt/msgpack-cxx/include. -""" - -load( - "@drake//tools/workspace:pkg_config.bzl", - "setup_pkg_config_repository", -) -load( - "@drake//tools/workspace:os.bzl", - "determine_os", -) - -def _impl(repo_ctx): - os_result = determine_os(repo_ctx) - if os_result.error != None: - fail(os_result.error) - - if os_result.is_ubuntu: - error = setup_pkg_config_repository(repo_ctx).error - if error != None: - fail(error) - else: - prefix = "{}/opt/msgpack-cxx/".format(os_result.homebrew_prefix) - repo_ctx.symlink("{}/include".format(prefix), "msgpack") - - hdrs_patterns = [ - "msgpack/**/*.h", - "msgpack/**/*.hpp", - ] - - deprecation = repo_ctx.attr.extra_deprecation - - file_content = """# DO NOT EDIT: generated by msgpack_repository() - -licenses(["notice"]) # Boost-1.0 - -cc_library( - name = "msgpack", - hdrs = glob({}), - includes = ["msgpack"], - defines = ["MSGPACK_NO_BOOST"], - visibility = ["//visibility:public"], - deprecation = {}, -) - """.format(hdrs_patterns, repr(deprecation)) - - repo_ctx.file( - "BUILD.bazel", - content = file_content, - executable = False, - ) - -msgpack_repository = repository_rule( - attrs = { - "modname": attr.string(default = "msgpack"), - "licenses": attr.string_list(default = ["notice"]), # Boost-1.0 - "extra_deprecation": attr.string(default = "DRAKE DEPRECATED: The @msgpack external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01."), # noqa - }, - local = True, - configure = True, - implementation = _impl, -) diff --git a/tools/workspace/stduuid/BUILD.bazel b/tools/workspace/stduuid/BUILD.bazel deleted file mode 100644 index b77b93ae0dbc..000000000000 --- a/tools/workspace/stduuid/BUILD.bazel +++ /dev/null @@ -1,6 +0,0 @@ -# This file exists to make our directory into a Bazel package, so that our -# neighboring *.bzl file can be loaded elsewhere. - -load("//tools/lint:lint.bzl", "add_lint_tests") - -add_lint_tests() diff --git a/tools/workspace/stduuid/package.BUILD.bazel b/tools/workspace/stduuid/package.BUILD.bazel deleted file mode 100644 index 410b1340a9cf..000000000000 --- a/tools/workspace/stduuid/package.BUILD.bazel +++ /dev/null @@ -1,13 +0,0 @@ -# -*- bazel -*- - -licenses(["notice"]) # MIT - -package(default_visibility = ["//visibility:public"]) - -cc_library( - name = "stduuid", - hdrs = glob(["include/uuid.h", "gsl/*"]), - includes = ["include", "."], - linkstatic = 1, - deprecation = "DRAKE DEPRECATED: The @stduuid external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.", # noqa, -) diff --git a/tools/workspace/stduuid/repository.bzl b/tools/workspace/stduuid/repository.bzl deleted file mode 100644 index 23e36ec335d4..000000000000 --- a/tools/workspace/stduuid/repository.bzl +++ /dev/null @@ -1,13 +0,0 @@ -load("@drake//tools/workspace:github.bzl", "github_archive") - -def stduuid_repository( - name, - mirrors = None): - github_archive( - name = name, - repository = "mariusbancila/stduuid", - commit = "3afe7193facd5d674de709fccc44d5055e144d7a", - sha256 = "e11f9bf30c7f9c03d8e9a3a3fd7fe016eb5d8d9b89a2fe2c11b5f049e1d97916", # noqa - build_file = ":package.BUILD.bazel", - mirrors = mirrors, - ) diff --git a/tools/workspace/suitesparse/BUILD.bazel b/tools/workspace/suitesparse/BUILD.bazel deleted file mode 100644 index b77b93ae0dbc..000000000000 --- a/tools/workspace/suitesparse/BUILD.bazel +++ /dev/null @@ -1,6 +0,0 @@ -# This file exists to make our directory into a Bazel package, so that our -# neighboring *.bzl file can be loaded elsewhere. - -load("//tools/lint:lint.bzl", "add_lint_tests") - -add_lint_tests() diff --git a/tools/workspace/suitesparse/package.BUILD.bazel b/tools/workspace/suitesparse/package.BUILD.bazel deleted file mode 100644 index 4c395779eda0..000000000000 --- a/tools/workspace/suitesparse/package.BUILD.bazel +++ /dev/null @@ -1,25 +0,0 @@ -# -*- bazel -*- - -load(":vars.bzl", "LIBDIR") - -package(default_visibility = ["//visibility:public"]) - -cc_library( - name = "amd", - hdrs = [ - "include/SuiteSparse_config.h", - "include/amd.h", - ], - includes = [ - "include", - ], - linkopts = [ - "-L" + LIBDIR, - "-lamd", - # Explicitly specify transitive dependencies; these are needed when - # using static SuiteSparse as in the PyPI wheel builds. - "-lsuitesparseconfig", - ], - licenses = ["notice"], # BSD-3-Clause - deprecation = "DRAKE DEPRECATED: The @suitesparse external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.", # noqa -) diff --git a/tools/workspace/suitesparse/repository.bzl b/tools/workspace/suitesparse/repository.bzl deleted file mode 100644 index a3cd7de78070..000000000000 --- a/tools/workspace/suitesparse/repository.bzl +++ /dev/null @@ -1,53 +0,0 @@ -load( - "@drake//tools/workspace:os.bzl", - "determine_os", -) - -def _impl(repo_ctx): - # Find the include path. - os_result = determine_os(repo_ctx) - if os_result.error != None: - fail(os_result.error) - if os_result.is_ubuntu: - include = "/usr/include/suitesparse" - libdir = "/usr/lib" - elif os_result.is_macos: - include = "{}/opt/suite-sparse/include".format( - os_result.homebrew_prefix, - ) - libdir = "{}/opt/suite-sparse/lib".format( - os_result.homebrew_prefix, - ) - elif os_result.is_manylinux or os_result.is_macos_wheel: - # TODO(jwnimmer-tri) Ideally, we wouldn't be hard-coding paths when - # using manylinux. - include = "/opt/drake-dependencies/include" - libdir = "/opt/drake-dependencies/lib" - else: - fail("Unknown OS") - - # Grab the relevant headers. - hdrs = [ - "SuiteSparse_config.h", - "amd.h", - ] - for hdr in hdrs: - repo_ctx.symlink(include + "/" + hdr, "include/" + hdr) - - # Declare the libdir. - repo_ctx.file( - "vars.bzl", - content = "LIBDIR = \"{}\"\n".format(libdir), - executable = False, - ) - - # Add the BUILD file. - repo_ctx.symlink( - Label("@drake//tools/workspace/suitesparse:package.BUILD.bazel"), - "BUILD.bazel", - ) - -suitesparse_repository = repository_rule( - local = True, - implementation = _impl, -)