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Remove deprecated code 2021-04-21 #15050

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May 16, 2021
Merged

Remove deprecated code 2021-04-21 #15050

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16 changes: 0 additions & 16 deletions bindings/pydrake/multibody/plant_py.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -285,22 +285,6 @@ void DoScalarDependentDefinitions(py::module m, T) {
// TODO(eric.cousineau): Include `CalcInverseDynamics` once there is an
// overload that (a) services MBP directly and (b) uses body
// association that is less awkward than implicit BodyNodeIndex.
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
cls // BR
.def("CalcCenterOfMassPosition",
WrapDeprecated(cls_doc.CalcCenterOfMassPosition.doc_deprecated,
overload_cast_explicit<Vector3<T>, const Context<T>&>(
&Class::CalcCenterOfMassPosition)),
py::arg("context"), cls_doc.CalcCenterOfMassPosition.doc_deprecated)
.def("CalcCenterOfMassPosition",
WrapDeprecated(cls_doc.CalcCenterOfMassPosition.doc_deprecated,
overload_cast_explicit<Vector3<T>, const Context<T>&,
const std::vector<ModelInstanceIndex>&>(
&Class::CalcCenterOfMassPosition)),
py::arg("context"), py::arg("model_instances"),
cls_doc.CalcCenterOfMassPosition.doc_deprecated);
#pragma GCC diagnostic pop
cls // BR
.def("CalcTotalMass",
overload_cast_explicit<T, const Context<T>&>(&Class::CalcTotalMass),
Expand Down
7 changes: 0 additions & 7 deletions bindings/pydrake/multibody/test/plant_test.py
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Expand Up @@ -795,13 +795,6 @@ def test_multibody_tree_kinematics(self, T):
context=context, model_instances=[instance])
self.assertTupleEqual(p_com.shape, (3, ))

with catch_drake_warnings(expected_count=2):
p_com = plant.CalcCenterOfMassPosition(context=context)
self.assertTupleEqual(p_com.shape, (3, ))
p_com = plant.CalcCenterOfMassPosition(
context=context, model_instances=[instance])
self.assertTupleEqual(p_com.shape, (3, ))

nq = plant.num_positions()
nv = plant.num_velocities()
wrt_list = [
Expand Down
15 changes: 0 additions & 15 deletions multibody/plant/multibody_plant.h
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Expand Up @@ -2479,13 +2479,6 @@ class MultibodyPlant : public internal::MultibodyTreeSystem<T> {
return internal_tree().CalcCenterOfMassPositionInWorld(context);
}

DRAKE_DEPRECATED("2021-04-21", "Use CalcCenterOfMassPositionInWorld() "
"instead of CalcCenterOfMassPosition().")
Vector3<T> CalcCenterOfMassPosition(
const systems::Context<T>& context) const {
return CalcCenterOfMassPositionInWorld(context);
}

/// Calculates the position vector from the world origin Wo to the center of
/// mass of all bodies contained in model_instances, expressed in the world
/// frame W.
Expand All @@ -2507,14 +2500,6 @@ class MultibodyPlant : public internal::MultibodyTreeSystem<T> {
CalcCenterOfMassPositionInWorld(context, model_instances);
}

DRAKE_DEPRECATED("2021-04-21", "Use CalcCenterOfMassPositionInWorld() "
"instead of CalcCenterOfMassPosition().")
Vector3<T> CalcCenterOfMassPosition(
const systems::Context<T>& context,
const std::vector<ModelInstanceIndex>& model_instances) const {
return CalcCenterOfMassPositionInWorld(context, model_instances);
}

/// Calculates system center of mass translational velocity in world frame W.
/// @param[in] context The context contains the state of the model.
/// @retval v_WScm_W Scm's translational velocity in frame W, expressed in W,
Expand Down
31 changes: 0 additions & 31 deletions multibody/plant/test/multibody_plant_com_test.cc
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Expand Up @@ -27,15 +27,6 @@ GTEST_TEST(EmptyMultibodyPlantCenterOfMassTest, CalcCenterOfMassPosition) {
"CalcCenterOfMassPositionInWorld\\(\\): This MultibodyPlant contains "
"only the world_body\\(\\) so its center of mass is undefined.");

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DRAKE_EXPECT_THROWS_MESSAGE(
plant.CalcCenterOfMassPosition(*context_),
std::exception,
"CalcCenterOfMassPositionInWorld\\(\\): This MultibodyPlant contains "
"only the world_body\\(\\) so its center of mass is undefined.");
#pragma GCC diagnostic pop // pop -Wdeprecated-declarations

DRAKE_EXPECT_THROWS_MESSAGE(
plant.CalcCenterOfMassTranslationalVelocityInWorld(*context_),
std::exception,
Expand Down Expand Up @@ -90,14 +81,6 @@ class MultibodyPlantCenterOfMassTest : public ::testing::Test {
// Allow for 3 bits (2^3 = 8) of error.
const double kTolerance = 8 * std::numeric_limits<double>::epsilon();
EXPECT_TRUE(CompareMatrices(p_WCcm, p_WCcm_expected, kTolerance));

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
Eigen::Vector3d p_WCcm_deprecated =
plant_.CalcCenterOfMassPosition(*context_);
EXPECT_TRUE(
CompareMatrices(p_WCcm_deprecated, p_WCcm_expected, kTolerance));
#pragma GCC diagnostic pop // pop -Wdeprecated-declarations
}

const RigidBody<double>& GetSphereBody() {
Expand Down Expand Up @@ -223,13 +206,6 @@ TEST_F(MultibodyPlantCenterOfMassTest, CenterOfMassPosition) {
const double kTolerance = 8 * std::numeric_limits<double>::epsilon();
EXPECT_TRUE(CompareMatrices(p_WCcm, result, kTolerance));

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
Eigen::Vector3d p_WCcm_deprecatedA =
plant_.CalcCenterOfMassPosition(*context_);
EXPECT_TRUE(CompareMatrices(p_WCcm_deprecatedA, result, kTolerance));
#pragma GCC diagnostic pop // pop -Wdeprecated-declarations

// Verify the plant's center of mass location for an arbitrary input.
const Eigen::Vector3d p_WSo_W(1.1, 2.3, 3.7);
const Eigen::Vector3d p_WTo_W(-5.2, 10.4, -6.8);
Expand Down Expand Up @@ -298,13 +274,6 @@ TEST_F(MultibodyPlantCenterOfMassTest, CenterOfMassPosition) {
p_WCcm = plant_.CalcCenterOfMassPositionInWorld(*context_, model_instances);
EXPECT_TRUE(CompareMatrices(p_WCcm, result, kTolerance));

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
Eigen::Vector3d p_WCcm_deprecatedB =
plant_.CalcCenterOfMassPosition(*context_, model_instances);
EXPECT_TRUE(CompareMatrices(p_WCcm_deprecatedB, result, kTolerance));
#pragma GCC diagnostic pop // pop -Wdeprecated-declarations

// Verify CalcCenterOfMassPositionInWorld() works for 2 objects in
// model_instances, where the 2 objects have arbitrary orientation/position.
const math::RigidTransformd X_WS2(math::RollPitchYawd(0.3, -1.5, 0.7),
Expand Down