Deprecated List

Member drake::math::hessian (F &&f, Arg &&x)

Removed with no replacement; copy the code into your project if you still need it
This will be removed from Drake on or after 2026-04-01.

Member drake::math::jacobian (F &&f, Arg &&x)

Removed with no replacement; copy the code into your project if you still need it
This will be removed from Drake on or after 2026-04-01.

Member drake::multibody::kTamsi

The TAMSI solver is deprecated for removal.
This will be removed from Drake on or after 2026-09-01.

Member drake::multibody::kTamsi

The TAMSI solver is deprecated for removal.
This will be removed from Drake on or after 2026-09-01.

Member drake::multibody::operator<< (std::ostream &os, const DifferentialInverseKinematicsStatus value)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::multibody::operator<< (std::ostream &out, const PackageMap &package_map)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::operator<< (std::ostream &os, const typename Polynomial< T >::Monomial &m)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::operator<< (std::ostream &os, const Polynomial< T > &poly)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::operator<< (std::ostream &os, const Eigen::Matrix< Polynomial< T >, Rows, Cols > &poly_mat)

Wrap Eigen objects M with fmt_eigen() to format Eigen data into fmt strings e.g., fmt::to_string(fmt_eigen(M)), fmt::format(\M = {}\, fmt_eigen(M)). You'll need to #include \drake/common/fmt_eigen.h\ to access that function. Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::perception::pc_flags::operator<< (std::ostream &os, const Fields &rhs)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::solvers::operator<< (std::ostream &os, const Binding< C > &binding)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::solvers::operator<< (std::ostream &os, const EvaluatorBase &e)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::solvers::operator<< (std::ostream &os, const MixedIntegerRotationConstraintGenerator::Approach &type)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::solvers::operator<< (std::ostream &os, const IntervalBinning &binning)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::solvers::operator<< (std::ostream &os, const MathematicalProgram &prog)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::solvers::operator<< (std::ostream &, const ProgramAttribute &)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::solvers::operator<< (std::ostream &, const ProgramAttributes &)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::solvers::operator<< (std::ostream &, const ProgramType &)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::solvers::operator<< (std::ostream &os, SolutionResult solution_result)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::solvers::operator<< (std::ostream &, const SolverId &)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::symbolic::operator<< (std::ostream &os, const Environment &env)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::symbolic::operator<< (std::ostream &os, const Expression &e)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::symbolic::operator<< (std::ostream &os, const Variable &var)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member drake::symbolic::operator<< (std::ostream &os, Variable::Type type)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member drake::symbolic::operator<< (std::ostream &os, const Variables &vars)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::symbolic::operator<< (std::ostream &os, const Formula &f)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::symbolic::operator<< (std::ostream &out, const Monomial &m)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member drake::symbolic::operator<< (std::ostream &out, const MonomialBasisElement &m)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::symbolic::operator<< (std::ostream &out, const ChebyshevBasisElement &m)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::symbolic::operator<< (std::ostream &os, const GenericPolynomial< BasisElement > &p)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member drake::symbolic::operator<< (std::ostream &out, const ChebyshevPolynomial &p)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::symbolic::operator<< (std::ostream &os, const Polynomial &p)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member drake::symbolic::operator<< (std::ostream &, const RationalFunction &f)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member drake::systems::operator<< (std::ostream &os, const Context< T > &context)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::systems::operator<< (std::ostream &os, const VectorBase< T > &vec)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member drake::to_string (const FileSource &source)

Use fmt::to_string instead, with `#include <fmt/std.h>`.
This will be removed from Drake on or after 2026-07-01.

Member drake::yaml::operator<< (std::ostream &, const LoadYamlOptions &)

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::GetDefaultFreeBodyPose (const RigidBody< T > &body) const

Use GetDefaultFloatingBaseBodyPose() instead.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::GetUniqueFreeBaseBodyOrThrow (ModelInstanceIndex model_instance) const

Use GetUniqueFloatingBaseBodyOrThrow() instead.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::HasUniqueFreeBaseBody (ModelInstanceIndex model_instance) const

Use HasUniqueFloatingBaseBody() instead.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::SetDefaultFreeBodyPose (const RigidBody< T > &body, const math::RigidTransform< double > &X_PB)

Use SetDefaultFloatingBaseBodyPose() instead.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::SetFreeBodyPoseInAnchoredFrame (systems::Context< T > *context, const Frame< T > &frame_F, const RigidBody< T > &body, const math::RigidTransform< T > &X_FB) const

Use SetFloatingBaseBodyPoseInAnchoredFrame() instead.
This will be removed from Drake on or after 2026-06-01.

Member MultibodyPlant< T >::SetFreeBodyPoseInWorldFrame (systems::Context< T > *context, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const

Use SetFloatingBaseBodyPoseInWorldFrame() instead.
This will be removed from Drake on or after 2026-06-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-05-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member operator<<

Use fmt functions instead (e.g., fmt::format(), fmt::to_string(), fmt::print()). Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-06-01.

Member RigidBody< T >::is_floating () const

Use is_floating_base_body() instead.
This will be removed from Drake on or after 2026-06-01.

Member Simulator< T >::get_publish_every_time_step () const

See https://drake.mit.edu/troubleshooting.html #force-publishing for help.
This will be removed from Drake on or after 2026-06-01.

Member Simulator< T >::set_publish_at_initialization (bool publish)

This is no longer controlled by the Simulator. It must be be defined in the LeafSystem instead. See https://drake.mit.edu/troubleshooting.html#force-publishing for help.
This will be removed from Drake on or after 2026-06-01.

Member Simulator< T >::set_publish_every_time_step (bool publish)

This is no longer controlled by the Simulator. It must be defined in the LeafSystem instead. See https://drake.mit.edu/troubleshooting.html#force-publishing for help.
This will be removed from Drake on or after 2026-06-01.

Member std::operator<< (std::ostream &os, const uniform_real_distribution< drake::symbolic::Expression > &d)

Removed without replacement; you can format d.a() and d.b() one by one. Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member std::operator<< (std::ostream &os, const normal_distribution< drake::symbolic::Expression > &d)

Removed without replacement; you can format d.mean() and d.stddev() one by one. Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.

Member std::operator<< (std::ostream &os, const exponential_distribution< drake::symbolic::Expression > &d)

Removed without replacement; you can format d.lambda() instead. Refer to GitHub issue #17742 for more information.
This will be removed from Drake on or after 2026-07-01.