Deprecated List

Member drake::geometry::optimization::IrisInConfigurationSpace (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &context, const IrisOptions &options=IrisOptions())

Use IrisNp instead.
This will be removed from Drake on or after 2025-12-01.

Member drake::symbolic::ExtractAndAppendVariablesFromExpression (const symbolic::Expression &e, VectorX< Variable > *vars, std::unordered_map< symbolic::Variable::Id, int > *map_var_to_index)

Use the overloaded function with std::vector<Variable> instead of VectorX<Variable>
This will be removed from Drake on or after 2024-05-01.