pydrake: Revert some bindings of State accessors

Under Xenial GCC 5.4 + Python2 + --compilation_mode=dbg only, the //bindings/pydrake/systems:py/custom_test has about 75% failure rate when pydrake.systems.framework.State has too many methods bound. We'll need to root cause this further, but for now this repairs CI, while stopping short of a full revert.
RobotLocomotion · May 9, 2019 · 8883716 · 8883716
1 parent 78f9f4b
commit 8883716
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Showing 2 changed files with 3 additions and 31 deletions.
diff --git a/bindings/pydrake/systems/framework_py_semantics.cc b/bindings/pydrake/systems/framework_py_semantics.cc
@@ -641,16 +641,6 @@ void DefineFrameworkPySemantics(py::module m) {
             overload_cast_explicit<DiscreteValues<T>&>(
                 &State<T>::get_mutable_discrete_state),
             py_reference_internal, doc.State.get_mutable_discrete_state.doc)
-        .def("get_discrete_state",
-            overload_cast_explicit<const BasicVector<T>&, int>(
-                &State<T>::get_discrete_state),
-            py::arg("index"), py_reference_internal,
-            doc.State.get_discrete_state.doc)
-        .def("get_mutable_discrete_state",
-            overload_cast_explicit<BasicVector<T>&, int>(
-                &State<T>::get_mutable_discrete_state),
-            py::arg("index"), py_reference_internal,
-            doc.State.get_mutable_discrete_state.doc)
         .def("get_abstract_state",
             static_cast<const AbstractValues& (State<T>::*)() const>(
                 &State<T>::get_abstract_state),
@@ -659,20 +649,7 @@ void DefineFrameworkPySemantics(py::module m) {
             [](State<T>* self) -> AbstractValues& {
               return self->get_mutable_abstract_state();
             },
-            py_reference_internal, doc.State.get_mutable_abstract_state.doc)
-        .def("get_abstract_state",
-            [](const State<T>* self, int index) -> auto& {
-              return self->get_abstract_state().get_value(index);
-            },
-            py::arg("index"), py_reference_internal,
-            doc.State.get_abstract_state.doc)
-        .def("get_mutable_abstract_state",
-            [](State<T>* self, int index) -> AbstractValue& {
-              return self->get_mutable_abstract_state().get_mutable_value(
-                  index);
-            },
-            py::arg("index"), py_reference_internal,
-            doc.State.get_mutable_abstract_state.doc);
+            py_reference_internal, doc.State.get_mutable_abstract_state.doc);
 
     // - Constituents.
     DefineTemplateClassWithDefault<ContinuousState<T>>(

diff --git a/bindings/pydrake/systems/test/general_test.py b/bindings/pydrake/systems/test/general_test.py
@@ -175,22 +175,17 @@ def check_abstract_value_zero(context, expected_value):
                              expected_value)
             self.assertEqual(context.get_abstract_state().get_value(
                 index=0).get_value(), expected_value)
-            self.assertEqual(context.get_state().get_abstract_state(
-                index=0).get_value(), expected_value)
             self.assertEqual(context.get_state().get_abstract_state()
                              .get_value(index=0).get_value(), expected_value)
 
         context.SetAbstractState(index=0, value=True)
         check_abstract_value_zero(context, True)
         context.SetAbstractState(index=0, value=False)
         check_abstract_value_zero(context, False)
-        value = context.get_mutable_state().get_mutable_abstract_state(index=0)
-        value.set_value(True)
-        check_abstract_value_zero(context, True)
         value = context.get_mutable_state().get_mutable_abstract_state()\
             .get_mutable_value(index=0)
-        value.set_value(False)
-        check_abstract_value_zero(context, False)
+        value.set_value(True)
+        check_abstract_value_zero(context, True)
 
     def test_event_api(self):
         # TriggerType - existence check.