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.

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

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

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

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

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

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

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 2026-01-01.

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 2026-01-01.

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 2026-01-01.

Member RigidBody< T >::is_floating () const

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