[common] Remove deprecated code 2022-11 (#18224)

common/BUILD.bazel

@@ -8,10 +8,6 @@ load(
     "drake_cc_package_library",
     "drake_cc_test",
 )
-load(
-    "@drake//tools/skylark:alias.bzl",
-    "drake_cc_hdrs_forwarding_library",
-)
 load(
     "@drake//tools/skylark:drake_py.bzl",
     "drake_py_binary",
@@ -27,7 +23,6 @@ drake_cc_package_library(
     visibility = ["//visibility:public"],
     deps = [
         ":autodiff",
-        ":autodiffxd_make_coherent",
         ":bit_cast",
         ":cond",
         ":copyable_unique_ptr",
@@ -56,11 +51,6 @@ drake_cc_package_library(
         ":scope_exit",
         ":scoped_singleton",
         ":sorted_pair",
-        ":symbolic",
-        ":symbolic_decompose",
-        ":symbolic_forwarding",
-        ":symbolic_latex",
-        ":symbolic_trigonometric_polynomial",
         ":temp_directory",
         ":timer",
         ":type_safe_index",
@@ -176,15 +166,6 @@ drake_cc_library(
     ],
 )
 
-drake_cc_library(
-    name = "autodiffxd_make_coherent",
-    hdrs = ["autodiffxd_make_coherent.h"],
-    deps = [
-        ":autodiff",
-        "//common/symbolic:expression",
-    ],
-)
-
 drake_cc_library(
     name = "polynomial",
     srcs = ["polynomial.cc"],
@@ -197,73 +178,6 @@ drake_cc_library(
     ],
 )
 
-# Remove this deprecataion shim on or after 2022-11-01.
-drake_cc_library(
-    name = "symbolic",
-    hdrs = ["symbolic.h"],
-    deps = [":symbolic_forwarding"],
-)
-
-# Remove this deprecataion shim on or after 2022-11-01.
-drake_cc_hdrs_forwarding_library(
-    name = "symbolic_forwarding",
-    actual_subdir = "common/symbolic",
-    add_deprecation_warning = True,
-    relative_labels_map = {
-        ":symbolic_chebyshev_basis_element": ":chebyshev_basis_element",
-        ":symbolic_chebyshev_polynomial": ":chebyshev_polynomial",
-        ":symbolic_codegen": ":codegen",
-        ":symbolic_decompose": ":decompose",
-        ":symbolic_generic_polynomial": ":generic_polynomial",
-        ":symbolic_monomial": ":monomial",
-        ":symbolic_monomial_basis_element": ":monomial_basis_element",
-        ":symbolic_monomial_util": ":monomial_util",
-        ":symbolic_polynomial": ":polynomial",
-        ":symbolic_polynomial_basis": ":polynomial_basis",
-        ":symbolic_polynomial_basis_element": ":polynomial_basis_element",
-        ":symbolic_rational_function": ":rational_function",
-        ":symbolic_simplification": ":simplification",
-    },
-    visibility = ["//visibility:private"],
-    deps = [
-        "//common/symbolic",
-    ],
-)
-
-# Remove this deprecataion shim on or after 2022-11-01.
-drake_cc_library(
-    name = "symbolic_decompose",
-    deps = [
-        ":symbolic",
-    ],
-)
-
-# Remove this deprecataion shim on or after 2022-11-01.
-drake_cc_hdrs_forwarding_library(
-    name = "symbolic_latex",
-    actual_subdir = "common/symbolic",
-    add_deprecation_warning = True,
-    relative_labels_map = {
-        ":symbolic_latex": ":latex",
-    },
-    deps = [
-        "//common/symbolic:latex",
-    ],
-)
-
-# Remove this deprecataion shim on or after 2022-11-01.
-drake_cc_hdrs_forwarding_library(
-    name = "symbolic_trigonometric_polynomial",
-    actual_subdir = "common/symbolic",
-    add_deprecation_warning = True,
-    relative_labels_map = {
-        ":symbolic_trigonometric_polynomial": ":trigonometric_polynomial",
-    },
-    deps = [
-        "//common/symbolic:trigonometric_polynomial",
-    ],
-)
-
 drake_cc_library(
     name = "default_scalars",
     hdrs = ["default_scalars.h"],
@@ -664,17 +578,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "deprecated_symbolic_headers_test",
-    copts = ["-Wno-cpp"],
-    deps = [
-        ":symbolic",
-        ":symbolic_decompose",
-        ":symbolic_latex",
-        ":symbolic_trigonometric_polynomial",
-    ],
-)
-
 drake_cc_googletest(
     name = "drake_bool_test",
     deps = [
@@ -990,16 +893,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "autodiffxd_make_coherent_test",
-    copts = ["-Wno-deprecated-declarations"],
-    deps = [
-        ":autodiffxd_make_coherent",
-        "//common/test_utilities:eigen_matrix_compare",
-        "//common/test_utilities:expect_no_throw",
-    ],
-)
-
 drake_cc_googletest(
     name = "never_destroyed_test",
     deps = [

common/symbolic/decompose.h

@@ -5,7 +5,6 @@
 #include <unordered_map>
 #include <utility>
 
-#include "drake/common/drake_deprecated.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/symbolic/expression.h"
 #include "drake/common/symbolic/polynomial.h"
@@ -135,52 +134,6 @@ int DecomposeAffineExpression(
     const std::unordered_map<symbolic::Variable::Id, int>& map_var_to_index,
     EigenPtr<Eigen::RowVectorXd> coeffs, double* constant_term);
 
-/** Decomposes an affine combination @p e = c0 + c1 * v1 + ... cn * vn into the
-following:
-
-     constant term      : c0
-     coefficient vector : [c1, ..., cn]
-     variable vector    : [v1, ..., vn]
-
-Then, it extracts the coefficient and the constant term. A map from variable ID
-to int, @p map_var_to_index, is used to decide a variable's index in a linear
-combination.
-
-\pre
-1. @c coeffs is a row vector of double, whose length matches with the size of
-   @c map_var_to_index.
-2. e.is_polynomial() is true.
-3. e is an affine expression.
-
-@tparam Derived An Eigen row vector type with Derived::Scalar == double.
-@param[in] e The symbolic affine expression
-@param[in] map_var_to_index A mapping from variable ID to variable index, such
-that map_var_to_index[vi.get_ID()] = i.
-@param[out] coeffs A row vector. coeffs(i) = ci.
-@param[out] constant_term c0 in the equation above.
-@return num_variable. Number of variables in the expression. 2 * x(0) + 3 has 1
-variable, 2 * x(0) + 3 * x(1) - 2 * x(0) has 1 variable. */
-template <typename Derived>
-DRAKE_DEPRECATED("2022-11-01",
-                 "Use the overloaded DecomposeAffineExpression which takes "
-                 "coeffs as a pointer.")
-typename std::enable_if_t<
-    std::is_same_v<typename Derived::Scalar, double>,
-    int> DecomposeAffineExpression(const symbolic::Expression& e,
-                                   const std::unordered_map<
-                                       symbolic::Variable::Id, int>&
-                                       map_var_to_index,
-                                   const Eigen::MatrixBase<Derived>& coeffs,
-                                   double* constant_term) {
-  Eigen::MatrixBase<Derived>& coeffs_ref =
-      const_cast<Eigen::MatrixBase<Derived>&>(coeffs);
-  Eigen::RowVectorXd coeffs_row(coeffs.cols());
-  const int num_vars = DecomposeAffineExpression(e, map_var_to_index,
-                                                 &coeffs_row, constant_term);
-  coeffs_ref = coeffs_row;
-  return num_vars;
-}
-
 /** Given a vector of Expressions @p f and a list of @p parameters we define
 all additional variables in @p f to be a vector of "non-parameter variables",
 n.  This method returns a factorization of @p f into an equivalent "data

common/symbolic/test/decompose_test.cc

@@ -349,18 +349,6 @@ GTEST_TEST(SymbolicExtraction, DecomposeAffineExpression) {
     EXPECT_TRUE(CompareMatrices(coeffs_expected, coeffs, kEps));
     EXPECT_EQ(c_expected, c);
 
-    // TODO(hongkai.dai): 2022-11-01 remove the following test after deprecating
-    // DecomposeAffineExpression with coeffs as a const reference argument.
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    Eigen::RowVectorXd coeffs_deprecated(num_variables);
-    double c_deprecated;
-    DecomposeAffineExpression(e, map_var_to_index, coeffs_deprecated,
-                              &c_deprecated);
-    EXPECT_TRUE(CompareMatrices(coeffs_expected, coeffs_deprecated, kEps));
-    EXPECT_EQ(c_expected, c_deprecated);
-#pragma GCC diagnostic pop
-
     // Now test a new expression with different coefficients and we pass in the
     // same variable `coeffs`. This tests whether DecomposeAffineExpression
     // reset coeffs (when the input coeffs stores some value).