- Member drake::geometry::optimization::CalcPairwiseIntersections (const ConvexSets &convex_sets_A, const ConvexSets &convex_sets_B, const std::vector< int > &continuous_revolute_joints, bool preprocess_bbox=true)
- Instead use ComputePairwiseIntersections, with return type std::pair<std::vector<std::pair<int, int>>, std::vector<Eigen::VectorXd>>.
This will be removed from Drake on or after 2024-12-01.
- Member drake::geometry::optimization::CalcPairwiseIntersections (const ConvexSets &convex_sets_A, const ConvexSets &convex_sets_B, const std::vector< int > &continuous_revolute_joints, const std::vector< geometry::optimization::Hyperrectangle > &bboxes_A, const std::vector< geometry::optimization::Hyperrectangle > &bboxes_B)
- Instead use ComputePairwiseIntersections, with return type std::pair<std::vector<std::pair<int, int>>, std::vector<Eigen::VectorXd>>.
This will be removed from Drake on or after 2024-12-01.
- Member drake::geometry::optimization::CalcPairwiseIntersections (const ConvexSets &convex_sets, const std::vector< int > &continuous_revolute_joints, bool preprocess_bbox=true)
- Instead use ComputePairwiseIntersections, with return type std::pair<std::vector<std::pair<int, int>>, std::vector<Eigen::VectorXd>>.
This will be removed from Drake on or after 2024-12-01.
- Member drake::geometry::optimization::CalcPairwiseIntersections (const ConvexSets &convex_sets, const std::vector< int > &continuous_revolute_joints, const std::vector< geometry::optimization::Hyperrectangle > &bboxes)
- Instead use ComputePairwiseIntersections, with return type std::pair<std::vector<std::pair<int, int>>, std::vector<Eigen::VectorXd>>.
This will be removed from Drake on or after 2024-12-01.
- Member drake::multibody::CalcSpatialInertia (const geometry::TriangleSurfaceMesh< double > &mesh)
- In the function CalcSpatialInertia(), the density argument's default value of 1.0 was removed. Provide a sensible density value.
This will be removed from Drake on or after 2024-11-01.
- Member GcsTrajectoryOptimization::AddEdges (const Subgraph &from_subgraph, const Subgraph &to_subgraph, const geometry::optimization::ConvexSet *subspace, const std::optional< std::vector< std::pair< int, int >>> &edges_between_regions, const std::optional< std::vector< Eigen::VectorXd >> &edge_offsets=std::nullopt)
- edges_between_regions should be of type const std::vector<std::pair<int, int>>*, and edge_offsets should be of type const std::vector<Eigen::VectorXd>*.
This will be removed from Drake on or after 2024-10-01.
- Member GcsTrajectoryOptimization::AddRegions (const geometry::optimization::ConvexSets ®ions, const std::vector< std::pair< int, int >> &edges_between_regions, int order, double h_min, double h_max, std::string name, const std::optional< std::vector< Eigen::VectorXd >> &edge_offsets)
- edge_offsets should be of type const std::vector<Eigen::VectorXd>*.
This will be removed from Drake on or after 2024-10-01.
- Member GcsTrajectoryOptimization::GetGraphvizString (const std::optional< solvers::MathematicalProgramResult > &result, const geometry::optimization::GcsGraphvizOptions &options={}) const
- result should be of type const solvers::MathematicalProgramResult*.
This will be removed from Drake on or after 2024-10-01.
- Member GraphOfConvexSets::GetGraphvizString (const std::optional< solvers::MathematicalProgramResult > &result, const geometry::optimization::GcsGraphvizOptions &options=GcsGraphvizOptions(), const std::optional< std::vector< const Edge * >> &active_path={}) const
- result should be of type const solvers::MathematicalProgramResult*.
This will be removed from Drake on or after 2024-10-01.
- 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 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 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 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.
