- Member AffineSubspace::Project (const Eigen::Ref< const Eigen::MatrixXd > &x) const
- Projection has moved to `ConvexSet`; use `Projection()` instead.
This will be removed from Drake on or after 2024-08-01.
- Member HydroelasticContactInfo< T >::HydroelasticContactInfo (const geometry::ContactSurface< T > *contact_surface, const SpatialForce< T > &F_Ac_W, std::vector< internal::HydroelasticQuadraturePointData< T >> &&quadrature_point_data)
- Do not pass quadrature_point_data.
This will be removed from Drake on or after 2024-11-01.
- Member HydroelasticContactInfo< T >::HydroelasticContactInfo (std::unique_ptr< geometry::ContactSurface< T >> contact_surface, const SpatialForce< T > &F_Ac_W, std::vector< internal::HydroelasticQuadraturePointData< T >> &&quadrature_point_data)
- Do not pass quadrature_point_data.
This will be removed from Drake on or after 2024-11-01.
- Member HydroelasticContactInfo< T >::quadrature_point_data () const
- This function is being removed. This detailed information was too costly to report, so is effectively no longer part of the ContactResults output port. The returned vector will always be empty during the deprecation window.
This will be removed from Drake on or after 2024-11-01.
- Member L2NormCost::A () const
- Use A_dense function instead.
This will be removed from Drake on or after 2024-08-01.
- Member MeshcatVisualizer< T >::ResetRealtimeRateCalculator ()
- Instead of explicitly resetting the calculator on this system, prefer to (re)set the Context's time value to an earlier time to implicitly reset the calculator.
This will be removed from Drake on or after 2024-11-01.
- Member MultibodyPlant< T >::EvalPointPairPenetrations (const systems::Context< T > &context) const
- We anticipate that after the deprecation date, MultibodyPlant will no longer provide public access access to its cached contact information. To inquire about collisions, ask the SceneGraph's QueryObject directly.
This will be removed from Drake on or after 2024-10-01.
- Member MultibodyPlant< T >::get_geometry_poses_output_port () const
- Use get_geometry_pose_output_port() instead (note no 's' plural). If you were only using this port to connect it to a SceneGraph, instead should you should use the AddMultibodyPlantSceneGraph() or AddMultibodyPlant(MultibodyPlantConfig) to add the plant and scene graph to a DiagramBuilder, already wired up correctly.
This will be removed from Drake on or after 2024-10-01.
- Member MultibodyPlant< T >::set_discrete_contact_solver (DiscreteContactSolver contact_solver)
- Use set_discrete_contact_approximation() to set the contact model approximation. The underlying solver will be inferred automatically.
This will be removed from Drake on or after 2024-04-01.
- Member MultibodyPlant< T >::SetFreeBodyRandomPositionDistribution (const RigidBody< T > &body, const Vector3< symbolic::Expression > &position)
- Use MultibodyPlant::SetFreeBodyRandomTranslationDistribution()
This will be removed from Drake on or after 2024-08-01.
- Member Parser::collision_filter_groups () const
- Use GetCollisionFilterGroups() instead. Note that the return type is changed to by-value in the new method; callers may need to store the return value in a variable with an appropriate lifetime.
This will be removed from Drake on or after 2024-10-01.
- Member QuaternionFloatingJoint< T >::get_default_pose () const
- Removed since functionality already provided by base class Joint::GetDefaultPose()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::get_default_position () const
- Use QuaternionFloatingJoint::get_default_translation()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::get_pose (const systems::Context< T > &context) const
- Use QuaternionFloatingJoint::GetPose()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::get_position (const systems::Context< T > &context) const
- Use QuaternionFloatingJoint::get_translation()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::set_default_position (const Vector3< double > &p_FM)
- Use QuaternionFloatingJoint::set_default_translation()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::set_pose (systems::Context< T > *context, const math::RigidTransform< T > &X_FM) const
- Use QuaternionFloatingJoint::SetPose()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::set_position (systems::Context< T > *context, const Vector3< T > &p_FM) const
- Use QuaternionFloatingJoint::SetTranslation()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::set_quaternion (systems::Context< T > *context, const Quaternion< T > &q_FM) const
- Use QuaternionFloatingJoint::SetQuaternion()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::set_random_position_distribution (const Vector3< symbolic::Expression > &p_FM)
- Use QuaternionFloatingJoint::set_random_translation_distribution()
This will be removed from Drake on or after 2024-08-01.
- Member QuaternionFloatingJoint< T >::SetFromRotationMatrix (systems::Context< T > *context, const math::RotationMatrix< T > &R_FM) const
- Use QuaternionFloatingJoint::SetOrientation()
This will be removed from Drake on or after 2024-08-01.
- Member RpyFloatingJoint< T >::set_translation (systems::Context< T > *context, const Vector3< T > &p_FM) const
- Use RpyFloatingJoint::SetTranslation()
This will be removed from Drake on or after 2024-08-01.
- Member SpatialInertia< T >::SpatialInertia ()=default
- The default constructor is deprecated. If you really want NaNs, then call the SpatialInertia<T>::NaN() factory function. If you were only calling this constructor as part of adding a RigidBody to MultibodyPlant, then instead you should omit the SpatialInertia argument from MultibodyPlant::AddRigidBody(); it now defaults to zero.
This will be removed from Drake on or after 2024-10-01.
- Member VectorSystem< T >::VectorSystem (SystemScalarConverter converter, int input_size, int output_size)
- The direct_feedthrough argument is now required. To match the prior default, pass std::nullopt but beware that inferring feedthrough from symbolic form is incredibly computationally expensive and should generally be avoided.
This will be removed from Drake on or after 2024-11-01.
- Member VectorSystem< T >::VectorSystem (int input_size, int output_size)
- The direct_feedthrough argument is now required.
This will be removed from Drake on or after 2024-11-01.
