Remove deprecated code (#8656)

wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp

@@ -67,48 +67,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
     }
   }
 
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming continuous
-   * control.
-   *
-   * @param angle        The angle setpoint, in radians. This angle should be
-   *                     measured from the horizontal (i.e. if the provided
-   *                     angle is 0, the arm should be parallel to the floor).
-   *                     If your encoder does not follow this convention, an
-   *                     offset should be added.
-   * @param velocity     The velocity setpoint.
-   * @param acceleration The acceleration setpoint.
-   * @return The computed feedforward, in volts.
-   */
-  [[deprecated("Use the current/next velocity overload instead.")]]
-  constexpr wpi::units::volt_t Calculate(
-      wpi::units::unit_t<Angle> angle, wpi::units::unit_t<Velocity> velocity,
-      wpi::units::unit_t<Acceleration> acceleration) const {
-    return kS * wpi::util::sgn(velocity) + kG * wpi::units::math::cos(angle) +
-           kV * velocity + kA * acceleration;
-  }
-
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming continuous
-   * control.
-   *
-   * @param currentAngle The current angle in radians. This angle should be
-   *   measured from the horizontal (i.e. if the provided angle is 0, the arm
-   *   should be parallel to the floor). If your encoder does not follow this
-   *   convention, an offset should be added.
-   * @param currentVelocity The current velocity setpoint.
-   * @param nextVelocity The next velocity setpoint.
-   * @param dt Time between velocity setpoints in seconds.
-   * @return The computed feedforward in volts.
-   */
-  [[deprecated("Use the current/next velocity overload instead.")]]
-  wpi::units::volt_t Calculate(wpi::units::unit_t<Angle> currentAngle,
-                               wpi::units::unit_t<Velocity> currentVelocity,
-                               wpi::units::unit_t<Velocity> nextVelocity,
-                               wpi::units::second_t dt) const {
-    return Calculate(currentAngle, currentVelocity, nextVelocity);
-  }
-
   /**
    * Calculates the feedforward from the gains and setpoint assuming discrete
    * control. Use this method when the velocity does not change.

wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp

@@ -192,28 +192,6 @@ class WPILIB_DLLEXPORT PIDController
     return m_errorDerivativeTolerance;
   }
 
-  /**
-   * Gets the position tolerance of this controller.
-   *
-   * @return The position tolerance of the controller.
-   * @deprecated Use GetErrorTolerance() instead.
-   */
-  [[deprecated("Use the GetErrorTolerance method instead.")]]
-  constexpr double GetPositionTolerance() const {
-    return m_errorTolerance;
-  }
-
-  /**
-   * Gets the velocity tolerance of this controller.
-   *
-   * @return The velocity tolerance of the controller.
-   * @deprecated Use GetErrorDerivativeTolerance() instead.
-   */
-  [[deprecated("Use the GetErrorDerivativeTolerance method instead.")]]
-  constexpr double GetVelocityTolerance() const {
-    return m_errorDerivativeTolerance;
-  }
-
   /**
    * Gets the accumulated error used in the integral calculation of this
    * controller.
@@ -328,24 +306,6 @@ class WPILIB_DLLEXPORT PIDController
    */
   constexpr double GetErrorDerivative() const { return m_errorDerivative; }
 
-  /**
-   * Returns the difference between the setpoint and the measurement.
-   * @deprecated Use GetError() instead.
-   */
-  [[deprecated("Use GetError method instead.")]]
-  constexpr double GetPositionError() const {
-    return m_error;
-  }
-
-  /**
-   * Returns the velocity error.
-   * @deprecated Use GetErrorDerivative() instead.
-   */
-  [[deprecated("Use GetErrorDerivative method instead.")]]
-  constexpr double GetVelocityError() const {
-    return m_errorDerivative;
-  }
-
   /**
    * Returns the next output of the PID controller.
    *

wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp

@@ -21,26 +21,6 @@ namespace wpi::math {
 template <std::derived_from<TrajectoryConstraint> Constraint>
 class EllipticalRegionConstraint : public TrajectoryConstraint {
  public:
-  /**
-   * Constructs a new EllipticalRegionConstraint.
-   *
-   * @param center The center of the ellipse in which to enforce the constraint.
-   * @param xWidth The width of the ellipse in which to enforce the constraint.
-   * @param yWidth The height of the ellipse in which to enforce the constraint.
-   * @param rotation The rotation to apply to all radii around the origin.
-   * @param constraint The constraint to enforce when the robot is within the
-   *     region.
-   * @deprecated Use constructor taking Ellipse2d instead.
-   */
-  [[deprecated("Use constructor taking Ellipse2d instead.")]]
-  constexpr EllipticalRegionConstraint(const Translation2d& center,
-                                       wpi::units::meter_t xWidth,
-                                       wpi::units::meter_t yWidth,
-                                       const Rotation2d& rotation,
-                                       const Constraint& constraint)
-      : m_ellipse{Pose2d{center, rotation}, xWidth / 2.0, yWidth / 2.0},
-        m_constraint(constraint) {}
-
   /**
    * Constructs a new EllipticalRegionConstraint.
    *

wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp

@@ -19,23 +19,6 @@ namespace wpi::math {
 template <std::derived_from<TrajectoryConstraint> Constraint>
 class RectangularRegionConstraint : public TrajectoryConstraint {
  public:
-  /**
-   * Constructs a new RectangularRegionConstraint.
-   *
-   * @param bottomLeftPoint The bottom left point of the rectangular region in
-   *     which to enforce the constraint.
-   * @param topRightPoint The top right point of the rectangular region in which
-   *     to enforce the constraint.
-   * @param constraint The constraint to enforce when the robot is within the
-   *     region.
-   * @deprecated Use constructor taking Rectangle2d instead.
-   */
-  [[deprecated("Use constructor taking Rectangle2d instead.")]]
-  constexpr RectangularRegionConstraint(const Translation2d& bottomLeftPoint,
-                                        const Translation2d& topRightPoint,
-                                        const Constraint& constraint)
-      : m_rectangle{bottomLeftPoint, topRightPoint}, m_constraint(constraint) {}
-
   /**
    * Constructs a new RectangularRegionConstraint.
    *