[pydrake] Centralize pybind11 includes for ODR safety (RobotLocomotio…

…n#19571) For convenience and easier ODR-safety, consolidate the common pybind11 includes (especially the includes that specialize trait structs) into our central pydrake_pybind header. This avoids hazards where some modules forget to include the proper headers and experience compile- time or runtime failures as a result.
RussTedrake · Jul 3, 2023 · d3bea00 · d3bea00
1 parent 2e6c70f
commit d3bea00
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Showing 100 changed files with 16 additions and 305 deletions.
diff --git a/bindings/pydrake/autodiff_types_pybind.h b/bindings/pydrake/autodiff_types_pybind.h
@@ -1,8 +1,5 @@
 #pragma once
 
-#include "pybind11/eigen.h"
-#include "pybind11/numpy.h"
-
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/autodiff.h"
 

diff --git a/bindings/pydrake/autodiffutils_py.cc b/bindings/pydrake/autodiffutils_py.cc
@@ -1,7 +1,4 @@
-#include "pybind11/eigen.h"
-#include "pybind11/operators.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
+#include <Eigen/Core>
 #include <unsupported/Eigen/AutoDiff>
 
 #include "drake/bindings/pydrake/autodiff_types_pybind.h"

diff --git a/bindings/pydrake/common/cpp_param_pybind.h b/bindings/pydrake/common/cpp_param_pybind.h
@@ -7,9 +7,6 @@
 #include <typeinfo>
 #include <vector>
 
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/wrap_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/common/cpp_template_pybind.h b/bindings/pydrake/common/cpp_template_pybind.h
@@ -3,10 +3,6 @@
 #include <string>
 #include <utility>
 
-#include "pybind11/functional.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 // `GetPyTypes` is implemented specifically for `cpp_template`; to simplify
 // dependencies, this is included transitively.
 #include "drake/bindings/pydrake/common/cpp_param_pybind.h"

diff --git a/bindings/pydrake/common/deprecation_pybind.h b/bindings/pydrake/common/deprecation_pybind.h
@@ -9,9 +9,6 @@
 #include <string>
 #include <utility>
 
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/wrap_function.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 

diff --git a/bindings/pydrake/common/eigen_geometry_py.cc b/bindings/pydrake/common/eigen_geometry_py.cc
@@ -1,8 +1,6 @@
 #include <cmath>
 #include <stdexcept>
 
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/eigen_geometry_pybind.h"

diff --git a/bindings/pydrake/common/eigen_geometry_pybind.h b/bindings/pydrake/common/eigen_geometry_pybind.h
@@ -10,7 +10,6 @@
 #include <string>
 #include <utility>
 
-#include "pybind11/eigen.h"
 #include <Eigen/Dense>
 
 #include "drake/bindings/pydrake/common/wrap_pybind.h"

diff --git a/bindings/pydrake/common/eigen_pybind.h b/bindings/pydrake/common/eigen_pybind.h
@@ -2,7 +2,6 @@
 
 #include <utility>
 
-#include "pybind11/eigen.h"
 #include <Eigen/Dense>
 
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/common/identifier_pybind.h b/bindings/pydrake/common/identifier_pybind.h
@@ -2,9 +2,6 @@
 
 #include <string>
 
-#include "pybind11/operators.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/identifier.h"

diff --git a/bindings/pydrake/common/module_py.cc b/bindings/pydrake/common/module_py.cc
@@ -1,7 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/autodiff_types_pybind.h"
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/text_logging_pybind.h"

diff --git a/bindings/pydrake/common/schema_py.cc b/bindings/pydrake/common/schema_py.cc
@@ -1,10 +1,7 @@
 #include <memory>
 #include <vector>
 
-#include "pybind11/eigen.h"
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"

diff --git a/bindings/pydrake/common/serialize_pybind.h b/bindings/pydrake/common/serialize_pybind.h
@@ -10,13 +10,10 @@
 #include <variant>
 #include <vector>
 
-#include "bindings/pydrake/common/cpp_template_pybind.h"
-#include "bindings/pydrake/pydrake_pybind.h"
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
 #include <fmt/format.h>
 
+#include "drake/bindings/pydrake/common/cpp_template_pybind.h"
+#include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/drake_copyable.h"
 #include "drake/common/drake_throw.h"
 #include "drake/common/eigen_types.h"

diff --git a/bindings/pydrake/common/sorted_pair_pybind.h b/bindings/pydrake/common/sorted_pair_pybind.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/sorted_pair.h"
 

diff --git a/bindings/pydrake/common/test/compatibility_test_util_py.cc b/bindings/pydrake/common/test/compatibility_test_util_py.cc
@@ -1,6 +1,3 @@
-#include "pybind11/functional.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 
 namespace drake {

diff --git a/bindings/pydrake/common/test/cpp_param_pybind_test.cc b/bindings/pydrake/common/test/cpp_param_pybind_test.cc
@@ -8,7 +8,6 @@
 
 #include "pybind11/embed.h"
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
 #include <gtest/gtest.h>
 
 #include "drake/bindings/pydrake/test/test_util_pybind.h"

diff --git a/bindings/pydrake/common/test/cpp_template_pybind_test.cc b/bindings/pydrake/common/test/cpp_template_pybind_test.cc
@@ -10,7 +10,6 @@
 
 #include "pybind11/embed.h"
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
 #include <gtest/gtest.h>
 
 #include "drake/bindings/pydrake/test/test_util_pybind.h"

diff --git a/bindings/pydrake/common/test/deprecation_example/cc_module_py.cc b/bindings/pydrake/common/test/deprecation_example/cc_module_py.cc
@@ -6,8 +6,6 @@ Please review this file and the corresponding test,
 `deprecation_utility_test.py`.
 */
 
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/test/deprecation_example/example_class.h"  // NOLINT
 #include "drake/bindings/pydrake/common/test/deprecation_example/example_class_documentation.h"  // NOLINT

diff --git a/bindings/pydrake/common/test/eigen_geometry_test_util_py.cc b/bindings/pydrake/common/test/eigen_geometry_test_util_py.cc
@@ -1,4 +1,3 @@
-#include "pybind11/pybind11.h"
 #include <Eigen/Dense>
 
 #include "drake/bindings/pydrake/common/eigen_geometry_pybind.h"

diff --git a/bindings/pydrake/common/test/serialize_test_bar_py.cc b/bindings/pydrake/common/test/serialize_test_bar_py.cc
@@ -1,5 +1,3 @@
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/common/test/serialize_test_foo_py.h"
 #include "drake/common/name_value.h"

diff --git a/bindings/pydrake/common/test/serialize_test_foo_py.cc b/bindings/pydrake/common/test/serialize_test_foo_py.cc
@@ -1,7 +1,5 @@
 #include "drake/bindings/pydrake/common/test/serialize_test_foo_py.h"
 
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 
 namespace drake {

diff --git a/bindings/pydrake/common/test/serialize_test_util_py.cc b/bindings/pydrake/common/test/serialize_test_util_py.cc
@@ -1,9 +1,6 @@
 #include <array>
 #include <utility>
 
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/common/test/type_safe_index_pybind_test.cc b/bindings/pydrake/common/test/type_safe_index_pybind_test.cc
@@ -8,7 +8,6 @@
 
 #include "pybind11/embed.h"
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
 #include <gtest/gtest.h>
 
 #include "drake/bindings/pydrake/test/test_util_pybind.h"

diff --git a/bindings/pydrake/common/test/value_test_util_py.cc b/bindings/pydrake/common/test/value_test_util_py.cc
@@ -1,6 +1,3 @@
-#include "pybind11/operators.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 

diff --git a/bindings/pydrake/common/test/wrap_test_util_py.cc b/bindings/pydrake/common/test/wrap_test_util_py.cc
@@ -1,5 +1,3 @@
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/wrap_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/copyable_unique_ptr.h"

diff --git a/bindings/pydrake/common/type_safe_index_pybind.h b/bindings/pydrake/common/type_safe_index_pybind.h
@@ -2,9 +2,6 @@
 
 #include <string>
 
-#include "pybind11/operators.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/common/value_py.cc b/bindings/pydrake/common/value_py.cc
@@ -1,7 +1,6 @@
 #include <string>
 
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
 
 #include "drake/bindings/pydrake/common/cpp_param_pybind.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"

diff --git a/bindings/pydrake/common/wrap_pybind.h b/bindings/pydrake/common/wrap_pybind.h
@@ -8,8 +8,6 @@
 #include <type_traits>
 #include <utility>
 
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/wrap_function.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/copyable_unique_ptr.h"

diff --git a/bindings/pydrake/examples/examples_py_acrobot.cc b/bindings/pydrake/examples/examples_py_acrobot.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/examples/examples_py_compass_gait.cc b/bindings/pydrake/examples/examples_py_compass_gait.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/examples/examples_py_manipulation_station.cc b/bindings/pydrake/examples/examples_py_manipulation_station.cc
@@ -1,7 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"

diff --git a/bindings/pydrake/examples/examples_py_pendulum.cc b/bindings/pydrake/examples/examples_py_pendulum.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/examples/examples_py_quadrotor.cc b/bindings/pydrake/examples/examples_py_quadrotor.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/examples/examples_py_rimless_wheel.cc b/bindings/pydrake/examples/examples_py_rimless_wheel.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/examples/examples_py_van_der_pol.cc b/bindings/pydrake/examples/examples_py_van_der_pol.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/examples/examples_py.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/geometry/geometry_py_common.cc b/bindings/pydrake/geometry/geometry_py_common.cc
@@ -4,8 +4,6 @@
  represent the input values to all of those computations. They can be found in
  the pydrake.geometry module. */
 
-#include "pybind11/operators.h"
-
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/identifier_pybind.h"

diff --git a/bindings/pydrake/geometry/geometry_py_optimization.cc b/bindings/pydrake/geometry/geometry_py_optimization.cc
@@ -2,8 +2,6 @@
  drake::geometry::optimization namespace. They can be found in the
  pydrake.geometry.optimization module. */
 
-#include "pybind11/stl/filesystem.h"
-
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/identifier_pybind.h"

diff --git a/bindings/pydrake/geometry/geometry_py_render.cc b/bindings/pydrake/geometry/geometry_py_render.cc
@@ -2,8 +2,6 @@
  and drake/geometry/render* directories. They can be found in the
  pydrake.geometry module. */
 
-#include "pybind11/operators.h"
-
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"

diff --git a/bindings/pydrake/geometry/optimization_pybind.h b/bindings/pydrake/geometry/optimization_pybind.h
@@ -1,10 +1,7 @@
 #pragma once
 
-#include <utility>
 #include <vector>
 
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/geometry/optimization/convex_set.h"
 

diff --git a/bindings/pydrake/lcm_py.cc b/bindings/pydrake/lcm_py.cc
@@ -1,9 +1,5 @@
 #include <cstring>
 
-#include "pybind11/functional.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/bindings/pydrake/manipulation/manipulation_py_kuka_iiwa.cc b/bindings/pydrake/manipulation/manipulation_py_kuka_iiwa.cc
@@ -1,7 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/operators.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/manipulation/manipulation_py_schunk_wsg.cc b/bindings/pydrake/manipulation/manipulation_py_schunk_wsg.cc
@@ -1,7 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/manipulation/manipulation_py_util.cc b/bindings/pydrake/manipulation/manipulation_py_util.cc
@@ -1,6 +1,3 @@
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/math_operators_pybind.h b/bindings/pydrake/math_operators_pybind.h
@@ -4,9 +4,6 @@
 #include <cmath>
 #include <type_traits>
 
-#include "pybind11/eigen.h"
-#include "pybind11/numpy.h"
-
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/common/drake_bool.h"
 

diff --git a/bindings/pydrake/math_py.cc b/bindings/pydrake/math_py.cc
@@ -1,10 +1,5 @@
 #include <cmath>
 
-#include "pybind11/eigen.h"
-#include "pybind11/functional.h"
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/autodiff_types_pybind.h"
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"

diff --git a/bindings/pydrake/multibody/benchmarks_py.cc b/bindings/pydrake/multibody/benchmarks_py.cc
@@ -1,5 +1,4 @@
 #include "pybind11/eval.h"
-#include "pybind11/pybind11.h"
 
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"

diff --git a/bindings/pydrake/multibody/fem_py.cc b/bindings/pydrake/multibody/fem_py.cc
@@ -1,6 +1,3 @@
-#include "pybind11/pybind11.h"
-#include "pybind11/stl.h"
-
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"

diff --git a/bindings/pydrake/multibody/inverse_kinematics_py.cc b/bindings/pydrake/multibody/inverse_kinematics_py.cc
@@ -1,8 +1,5 @@
 #include "drake/bindings/pydrake/multibody/inverse_kinematics_py.h"
 
-#include "pybind11/eigen.h"
-#include "pybind11/pybind11.h"
-
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
 #include "drake/bindings/pydrake/common/sorted_pair_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"