- Member DifferentialInverseKinematicsParameters::DifferentialInverseKinematicsParameters ()
- num_positions is now a mandatory argument for the constructor. This default constructor sets num_positions = 1.
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::get_end_effector_velocity_gain () const
- Use get_end_effector_velocity_flag instead. (The gains before were actually only acting as a flag).
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::get_timestep () const
- Use get_time_step() instead of get_timestep().
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::get_unconstrained_degrees_of_freedom_velocity_limit () const
- The unconstrained_degrees_of_freedom_velocity_limit is no longer used in the differential IK formulation and will be removed from this parameters class.
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::set_end_effector_velocity_gain (const Vector6< double > &gain_E)
- Use set_end_effector_velocity_flag instead. (The gains before were actually only acting as a flag).
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::set_timestep (double dt)
- Use set_time_step() instead of set_timestep().
This will be removed from Drake on or after 2023-01-01.
- Member DifferentialInverseKinematicsParameters::set_unconstrained_degrees_of_freedom_velocity_limit (double limit)
- The unconstrained_degrees_of_freedom_velocity_limit is no longer used in the differential IK formulation and will be removed from this parameters class.
This will be removed from Drake on or after 2023-01-01.
- Member drake::math::saturate (const T1 &value, const T2 &low, const T3 &high)
- Use C++17's std::clamp instead
This will be removed from Drake on or after 2023-01-01.
- Member drake::solvers::ReplaceBilinearTerms (const symbolic::Expression &e, const Eigen::Ref< const VectorXDecisionVariable > &x, const Eigen::Ref< const VectorXDecisionVariable > &y, const Eigen::Ref< const MatrixX< symbolic::Expression >> &W)
- Use symbolic::ReplaceBilinearTerms in the namespace drake::symbolic
This will be removed from Drake on or after 2022-12-01.
- Member drake::symbolic::SubstituteStereographicProjection (const symbolic::Expression &e, const std::unordered_map< symbolic::Variable, symbolic::Variable > &subs)
- Use the other SubstituteStereographicProjection which passes e as a symbolic::Polynomial
This will be removed from Drake on or after 2023-02-01.
- Member drake::systems::ApplySimulatorConfig (drake::systems::Simulator< T > *simulator, const SimulatorConfig &config)
- Call ApplySimulatorConfig with the config parameter first.
This will be removed from Drake on or after 2022-11-01.
- Member drake::systems::sensors::ApplyCameraConfig (const CameraConfig &config, multibody::MultibodyPlant< double > *plant, DiagramBuilder< double > *builder, geometry::SceneGraph< double > *scene_graph, drake::lcm::DrakeLcmInterface *lcm)
- Use the LcmBuses-related overload instead.
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::CheckSatisfiability (const symbolic::Formula &f, double delta)
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::DrealSolver ()
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::id ()
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::is_available ()
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::is_enabled ()
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::Minimize (const symbolic::Expression &objective, const symbolic::Formula &constraint, double delta, LocalOptimization local_optimization)
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member DrealSolver::ProgramAttributesSatisfied (const MathematicalProgram &)
- dReal support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member FixedOffsetFrame< T >::FixedOffsetFrame (const Body< T > &bodyB, const math::RigidTransform< double > &X_BF)
- FixedOffsetFrame must always have name
This will be removed from Drake on or after 2022-12-01.
- Member FixedOffsetFrame< T >::FixedOffsetFrame (const Frame< T > &P, const math::RigidTransform< double > &X_PF)
- The name parameter to the FixedOffsetFrame constructor is now required.
This will be removed from Drake on or after 2022-12-01.
- Member FixedOffsetFrame< T >::SetPoseInBodyFrame (systems::Context< T > *context, const math::RigidTransform< T > &X_PF) const
- SetPoseInBodyFrame() was incorrectly named so it has been replaced by SetPoseInParentFrame().
This will be removed from Drake on or after 2023-03-01.
- Member Frame< T >::Frame (const Body< T > &body)
- The name parameter to the Frame constructor is now required.
This will be removed from Drake on or after 2022-12-01.
- Member GraphOfConvexSets::SolveShortestPath (VertexId source_id, VertexId target_id, bool convex_relaxation, const solvers::SolverInterface *solver=nullptr, const std::optional< solvers::SolverOptions > &solver_options=std::nullopt) const
- Use version with GraphOfConvexSetsOptions
This will be removed from Drake on or after 2022-12-01.
- Member GraphOfConvexSets::SolveShortestPath (const Vertex &source, const Vertex &target, bool convex_relaxation, const solvers::SolverInterface *solver=nullptr, const std::optional< solvers::SolverOptions > &solver_options=std::nullopt) const
- Use version with GraphOfConvexSetsOptions
This will be removed from Drake on or after 2022-12-01.
- Member IbexSolver::IbexSolver ()
- IBEX support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member IbexSolver::id ()
- IBEX support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member IbexSolver::is_available ()
- IBEX support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member IbexSolver::is_enabled ()
- IBEX support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member IbexSolver::ProgramAttributesSatisfied (const MathematicalProgram &)
- IBEX support is being withdrawn from Drake; for details, see https://github.com/RobotLocomotion/drake/pull/18156
This will be removed from Drake on or after 2023-02-01.
- Member LeafSystem< T >::DeclarePeriodicDiscreteUpdate (double period_sec, double offset_sec=0)
- Use DeclarePeriodicDiscreteUpdateNoHandler() instead
This will be removed from Drake on or after 2023-03-01.
- Member LeafSystem< T >::DeclarePeriodicPublish (double period_sec, double offset_sec=0)
- Use DeclarePeriodicPublishNoHandler() instead
This will be removed from Drake on or after 2023-03-01.
- Member LeafSystem< T >::DeclarePeriodicUnrestrictedUpdate (double period_sec, double offset_sec=0)
- Use DeclarePeriodicUnrestrictedUpdateNoHandler() instead
This will be removed from Drake on or after 2023-03-01.
- Member MultibodyPlant< T >::AddCouplerConstraint (const Joint< U > &joint0, const Joint< U > &joint1, const U &gear_ratio, const U &offset=0.0)
- Only gear_ratio and offset of type double are supported.
This will be removed from Drake on or after 2023-03-01.
- Member Parser::AddModelFromString (const std::string &file_contents, const std::string &file_type, const std::string &model_name={})
- Use AddModelsFromString() instead.
This will be removed from Drake on or after 2023-04-01.
- Member PiecewisePolynomial< T >::Cubic (const Eigen::Ref< const VectorX< T >> &breaks, const Eigen::Ref< const MatrixX< T >> &samples, bool periodic_end_condition=false)
- Please use CubicWithContinuousSecondDerivatives instead.
This will be removed from Drake on or after 2023-03-01.
- Member RigidBody< T >::RigidBody (const SpatialInertia< double > &M_BBo_B)
- The body_name parameter to the RigidBody constructor is now required.
This will be removed from Drake on or after 2022-12-01.
- Member System< T >::CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const
- Use CalcForcedDiscreteVariableUpdate() instead
This will be removed from Drake on or after 2023-03-01.
- Member System< T >::CalcDiscreteVariableUpdates (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const
- Use CalcDiscreteVariableUpdate() (no final 's') instead
This will be removed from Drake on or after 2023-03-01.
- Member System< T >::CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
- Use CalcForcedUnrestrictedUpdate() instead
This will be removed from Drake on or after 2023-03-01.
- Member System< T >::GetPeriodicEvents () const
- Use MapPeriodicEventsByTiming() or GetPeriodicEvents(Context, EventCollection) instead
This will be removed from Drake on or after 2023-02-01.
- Member System< T >::Publish (const Context< T > &context) const
- Use ForcedPublish() instead
This will be removed from Drake on or after 2023-03-01.
- Member WeldJoint< T >::X_PC () const
- WeldJoint frame notation has changed. Use `X_FM()` instead.
This will be removed from Drake on or after 2022-12-01.
