wip: approximate annotations for examples/

bindings/pydrake/examples/BUILD.bazel

@@ -25,6 +25,7 @@ drake_pybind_library(
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
+        "//bindings/pydrake/common:ref_cycle_pybind",
     ],
     cc_so_name = "__init__",
     cc_srcs = [

bindings/pydrake/examples/examples_py_acrobot.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -161,8 +162,7 @@ void DefineExamplesAcrobot(py::module m) {
               geometry::SceneGraph<double>*>(&AcrobotGeometry::AddToBuilder),
           py::arg("builder"), py::arg("acrobot_state_port"),
           py::arg("acrobot_params"), py::arg("scene_graph"),
-          // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.AcrobotGeometry.AddToBuilder.doc_4args)
       .def_static("AddToBuilder",
@@ -172,7 +172,7 @@ void DefineExamplesAcrobot(py::module m) {
           py::arg("builder"), py::arg("acrobot_state_port"),
           py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.AcrobotGeometry.AddToBuilder.doc_3args);
 }

bindings/pydrake/examples/examples_py_compass_gait.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -93,7 +94,7 @@ void DefineExamplesCompassGait(py::module m) {
           py::arg("builder"), py::arg("floating_base_state_port"),
           py::arg("compass_gait_params"), py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.CompassGaitGeometry.AddToBuilder.doc_4args)
       .def_static("AddToBuilder",
@@ -104,7 +105,7 @@ void DefineExamplesCompassGait(py::module m) {
           py::arg("builder"), py::arg("floating_base_state_port"),
           py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.CompassGaitGeometry.AddToBuilder.doc_3args);
 }

bindings/pydrake/examples/examples_py_pendulum.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -106,7 +107,7 @@ void DefineExamplesPendulum(py::module m) {
           py::arg("builder"), py::arg("pendulum_state_port"),
           py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.PendulumGeometry.AddToBuilder.doc);
 }

bindings/pydrake/examples/examples_py_quadrotor.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -45,7 +46,7 @@ void DefineExamplesQuadrotor(py::module m) {
           py::arg("builder"), py::arg("quadrotor_state_port"),
           py::arg("scene_graph"), py::return_value_policy::reference,
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(), doc.QuadrotorGeometry.AddToBuilder.doc);
+          internal::ref_cycle<0, 1>(), doc.QuadrotorGeometry.AddToBuilder.doc);
 
   m.def("StabilizingLQRController", &StabilizingLQRController,
       py::arg("quadrotor_plant"), py::arg("nominal_position"),

bindings/pydrake/examples/examples_py_rimless_wheel.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -82,7 +83,7 @@ void DefineExamplesRimlessWheel(py::module m) {
           py::arg("builder"), py::arg("floating_base_state_port"),
           py::arg("rimless_wheel_params"), py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.RimlessWheelGeometry.AddToBuilder.doc_4args)
       .def_static("AddToBuilder",
@@ -93,7 +94,7 @@ void DefineExamplesRimlessWheel(py::module m) {
           py::arg("builder"), py::arg("floating_base_state_port"),
           py::arg("scene_graph"),
           // Keep alive, ownership: `return` keeps `builder` alive.
-          py::keep_alive<0, 1>(),
+          internal::ref_cycle<0, 1>(),
           // See #11531 for why `py_rvp::reference` is needed.
           py_rvp::reference, doc.RimlessWheelGeometry.AddToBuilder.doc_3args);
 }