[doc] Use ™ on MOSEK and always capitalize it

This changes Drake's published documentation and API to follow the preferred trademark spelling. Various buried mentions in our private source files are unchanged. For the website, automatically hyperlink ™ to a trademarks page.
RobotLocomotion · Feb 11, 2022 · 90be92b · 90be92b
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -374,7 +374,7 @@ if(WITH_GUROBI)
   endif()
 endif()
 
-option(WITH_MOSEK "Build with support for MOSEK" OFF)
+option(WITH_MOSEK "Build with support for MOSEK™" OFF)
 
 if(WITH_MOSEK)
   list(APPEND BAZEL_CONFIGS --config=mosek)

diff --git a/doc/_pages/apt.md b/doc/_pages/apt.md
@@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
 Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
-Drake's apt packages do not support the Mosek nor Gurobi solvers. To use
-Mosek or Gurobi, you will need to [build Drake from source](/from_source.html).
+Drake's apt packages do not support the MOSEK™ nor Gurobi solvers. To use
+MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html).
 
 ## Stable Releases
 

diff --git a/doc/_pages/bazel.md b/doc/_pages/bazel.md
@@ -171,7 +171,7 @@ bazel build //tools/lint:buildifier
 The Drake Bazel build currently supports the following proprietary solvers:
 
 * Gurobi 9.0.2
-* MOSEK 9.2
+* MOSEK™ 9.2
 * SNOPT 7.4
 
 ## Gurobi 9.0.2
@@ -203,17 +203,17 @@ See [https://docs.bazel.build/versions/master/user-manual.html#bazelrc](https://
 
 ## MOSEK
 
-The Drake Bazel build system downloads MOSEK 9.2.33 automatically.  No manual
+The Drake Bazel build system downloads MOSEK™ 9.2.33 automatically. No manual
 installation is required.  Set the location of your license file as follows:
 
   ```export MOSEKLM_LICENSE_FILE=/path/to/mosek.lic```
 
-To confirm that your setup was successful, run the tests that require MOSEK:
+To confirm that your setup was successful, run the tests that require MOSEK™:
 
   ```bazel test --config mosek --test_tag_filters=mosek //...```
 
 The default value of ``--test_tag_filters`` in Drake's ``bazel.rc`` excludes
-these tests.  If you will be developing with MOSEK regularly, you may wish
+these tests.  If you will be developing with MOSEK™ regularly, you may wish
 to specify a more convenient ``--test_tag_filters`` in a local ``.bazelrc``.
 See [https://docs.bazel.build/versions/master/user-manual.html#bazelrc](https://docs.bazel.build/versions/master/user-manual.html#bazelrc).
 

diff --git a/doc/_pages/docker.md b/doc/_pages/docker.md
@@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
 Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
-Drake's docker images do not support the Mosek nor Gurobi solvers. To use
-Mosek or Gurobi, you will need to [build Drake from source](/from_source.html).
+Drake's docker images do not support the MOSEK™ nor Gurobi solvers. To use
+MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html).
 
 ## Stable Releases
 

diff --git a/doc/_pages/from_binary.md b/doc/_pages/from_binary.md
@@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
 Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
-Drake's binary releases do not support the Mosek nor Gurobi solvers. To use
-Mosek or Gurobi, you will need to [build Drake from source](/from_source.html).
+Drake's binary releases do not support the MOSEK™ nor Gurobi solvers. To use
+MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html).
 
 ## Stable Releases
 

diff --git a/doc/_pages/from_source.md b/doc/_pages/from_source.md
@@ -105,12 +105,12 @@ make -j
 Please note the additional CMake options which affect the Python bindings:
 
 * ``-DWITH_GUROBI={ON, [OFF]}`` - Build with Gurobi enabled.
-* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK enabled.
+* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK™ enabled.
 * ``-DWITH_SNOPT={ON, [OFF]}`` - Build with SNOPT enabled.
 
 ``{...}`` means a list of options, and the option surrounded by ``[...]`` is
 the default option. An example of building ``pydrake`` with both Gurobi and
-MOSEK, without building tests:
+MOSEK™, without building tests:
 
 ```bash
 cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake

diff --git a/doc/_pages/installation.md b/doc/_pages/installation.md
@@ -83,8 +83,8 @@ All other packages support both C++ and/or Python.
 Alternatively, you can skip the pre-compiled binaries and
 [build Drake from source](/from_source.html).
 
-Drake's binary releases do not support the Mosek nor Gurobi solvers.
-To use Mosek or Gurobi, you must build Drake from source.
+Drake's binary releases do not support the MOSEK™ nor Gurobi solvers.
+To use MOSEK™ or Gurobi, you must build Drake from source.
 
 We're considering adding macOS support for Homebrew, i.e., ``brew install
 drake``.  Please upvote or comment on

diff --git a/doc/_pages/pip.md b/doc/_pages/pip.md
@@ -21,8 +21,8 @@ Drake binary releases incorporate a pre-compiled version of
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
 Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
-Drake's pip packages do not support the Mosek nor Gurobi solvers. To use
-Mosek or Gurobi, you will need to [build Drake from source](/from_source.html).
+Drake's pip packages do not support the MOSEK™ nor Gurobi solvers. To use
+MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html).
 
 ## Stable Releases
 

diff --git a/doc/_pages/tm.md b/doc/_pages/tm.md
@@ -0,0 +1,9 @@
+---
+title: Trademarks
+---
+
+All trademarks, logos and brand names are the property of their respective
+owners.
+
+MOSEK™ is a trademark of [MOSEK](https://www.mosek.com/) and is mentioned in
+Drake's documentation under a license from [MOSEK](https://www.mosek.com/).
diff --git a/doc/_release-notes/v0.13.0.md b/doc/_release-notes/v0.13.0.md
@@ -121,7 +121,7 @@ Newly bound
 ## Build system and dependencies
 
 * Provide nightly binary docker images ([#10554][_#10554], [#12364][_#12364], [#12367][_#12367], [#12446][_#12446])
-* Fix missing pthread linkopts for MOSEK ([#12337][_#12337])
+* Fix missing pthread linkopts for MOSEK™ ([#12337][_#12337])
 * Fix variable name in FindTinyXML2 ([#12339][_#12339])
 * Fix ByteSizeLong for Protobuf 3.11.0 or above ([#12425][_#12425])
 * Fix linters' find_all_sources --all commands ([#12369][_#12369], [#12385][_#12385], [#12424][_#12424])

diff --git a/doc/_release-notes/v0.25.0.md b/doc/_release-notes/v0.25.0.md
@@ -59,8 +59,8 @@ New features
 Fixes
 
 * Throw an error when getting dual solution for a QCP in Gurobi (`[#14285][_#14285])
-* Only retrieve Mosek dual solution when there are no integer variables ([#14338][_#14338]`)
-* Retrieve linear constraint dual from Mosek result ([#14348][_#14348])
+* Only retrieve MOSEK™ dual solution when there are no integer variables ([#14338][_#14338]`)
+* Retrieve linear constraint dual from MOSEK™ result ([#14348][_#14348])
 * Ensure IPOPT uses MUMPS as its linear solver ([#14446][_#14446], [#14288][_#14288])
 
 ## Multibody Dynamics

diff --git a/doc/_release-notes/v0.26.0.md b/doc/_release-notes/v0.26.0.md
@@ -39,7 +39,7 @@ Fixes
 
 New features
 
-* Retrieve dual solution for conic constraint in Mosek ([#14383][_#14383])
+* Retrieve dual solution for conic constraint in MOSEK™ ([#14383][_#14383])
 * Allow for incomplete symbolic derivatives ([#14514][_#14514])
 
 Fixes
@@ -87,7 +87,7 @@ Newly bound
 * Downgrade spdlog to release 5.1.0 ([#14427][_#14427])
 * Upgrade fcl to latest commit ([#14497][_#14497])
 * Upgrade ghc_filesystem to latest release 1.4.0 ([#14504][_#14504])
-* Upgrade mosek to latest release 9.2 ([#14484][_#14484])
+* Upgrade MOSEK™ to latest release 9.2 ([#14484][_#14484])
 * Upgrade optitrack_driver to latest commit ([#14451][_#14451])
 * Allow sphinx-build to be missing during bazel fetch ([#14528][_#14528])
 * Add dependency on TRI common_robotics_utilities; for now this is only used by test code, but in a future release will be used by a forthcoming new drake/planning/... library ([#14437][_#14437], [#14530][_#14530])

diff --git a/doc/_release-notes/v0.39.0.md b/doc/_release-notes/v0.39.0.md
@@ -59,7 +59,7 @@ New features
 Fixes
 
 * Improve performance while adding variables ([#16472][_#16472])
-* Mosek's debug printing includes the solution summary ([#16528][_#16528])
+* MOSEK™ debug printing includes the solution summary ([#16528][_#16528])
 
 ## Multibody Dynamics and Geometry
 

diff --git a/doc/defs.py b/doc/defs.py
@@ -81,6 +81,35 @@ def check_call(args, *, cwd=None):
     proc.check_returncode()
 
 
+def perl_cleanup_html_output(*, out_dir, extra_perl_statements=None):
+    """Runs a cleanup pass over all HTML output files, using a set of built-in
+    fixups. Calling code may pass its own extra statements, as well.
+    """
+    # Collect the list of all HTML output files.
+    html_files = []
+    for dirpath, _, filenames in os.walk(out_dir):
+        for filename in filenames:
+            if filename.endswith(".html"):
+                html_files.append(os.path.relpath(
+                    os.path.join(dirpath, filename), out_dir))
+
+    # Figure out what to do.
+    default_perl_statements = [
+        # Add trademark hyperlink.
+        r's#™#<a href="/tm.html">™</a>#g;',
+    ]
+    perl_statements = default_perl_statements + (extra_perl_statements or [])
+    for x in perl_statements:
+        assert x.endswith(';'), x
+
+    # Do it.
+    while html_files:
+        # Work in batches of 100, so we don't overflow the argv limit.
+        first, html_files = html_files[:100], html_files[100:]
+        check_call(["perl", "-pi", "-e", "".join(perl_statements)] + first,
+                   cwd=out_dir)
+
+
 def _call_build(*, build, out_dir):
     """Calls build() into out_dir, while also supplying a temp_dir."""
     with tempfile.TemporaryDirectory(

diff --git a/doc/doxygen_cxx/build.py b/doc/doxygen_cxx/build.py
@@ -12,7 +12,13 @@
 
 from bazel_tools.tools.python.runfiles import runfiles
 
-from drake.doc.defs import check_call, main, symlink_input, verbose
+from drake.doc.defs import (
+    check_call,
+    main,
+    perl_cleanup_html_output,
+    symlink_input,
+    verbose,
+)
 
 
 def _symlink_headers(*, drake_workspace, temp_dir, modules):
@@ -246,15 +252,8 @@ def _build(*, out_dir, temp_dir, modules, quick):
         ]
     _postprocess_doxygen_log(lines, check_for_errors)
 
-    # Collect the list of all HTML output files.
-    html_files = []
-    for dirpath, _, filenames in os.walk(out_dir):
-        for filename in filenames:
-            if filename.endswith(".html"):
-                html_files.append(relpath(join(dirpath, filename), out_dir))
-
     # Fix the formatting of deprecation text (see drake#15619 for an example).
-    perl_statements = [
+    extra_perl_statements = [
         # Remove quotes around the removal date.
         r's#(removed from Drake on or after) "(....-..-..)" *\.#\1 \2.#;',
         # Remove all quotes within the explanation text, i.e., the initial and
@@ -267,11 +266,9 @@ def _build(*, out_dir, temp_dir, modules, quick):
         # <dd><a class="anchor" id="_deprecated000013"></a>"Use RotationMatrix::MakeFromOneVector()." <br />  # noqa
         r'while (s#(?<=_deprecated\d{6}")([^"]*)"(.*?<br)#\1\2#) {};',
     ]
-    while html_files:
-        # Work in batches of 100, so we don't overflow the argv limit.
-        first, html_files = html_files[:100], html_files[100:]
-        check_call(["perl", "-pi", "-e", "".join(perl_statements)] + first,
-                   cwd=out_dir)
+    perl_cleanup_html_output(
+        out_dir=out_dir,
+        extra_perl_statements=extra_perl_statements)
 
     # The nominal pages to offer for preview.
     return ["", "classes.html", "modules.html"]

diff --git a/doc/pages.py b/doc/pages.py
@@ -7,7 +7,12 @@
 import os
 import tempfile
 
-from drake.doc.defs import check_call, main, symlink_input
+from drake.doc.defs import (
+    check_call,
+    main,
+    perl_cleanup_html_output,
+    symlink_input,
+)
 
 
 def _build(*, out_dir, temp_dir):
@@ -26,6 +31,9 @@ def _build(*, out_dir, temp_dir):
         "--destination", out_dir,
     ])
 
+    # Tidy up.
+    perl_cleanup_html_output(out_dir=out_dir)
+
     # The filename to suggest as the starting point for preview; in this case,
     # it's an empty filename (i.e., the index page).
     return [""]

diff --git a/doc/pydrake/build.py b/doc/pydrake/build.py
@@ -7,7 +7,13 @@
 from os.path import join
 import sys
 
-from drake.doc.defs import check_call, main, symlink_input, verbose
+from drake.doc.defs import (
+    check_call,
+    main,
+    perl_cleanup_html_output,
+    symlink_input,
+    verbose,
+)
 
 import pydrake.all
 # TODO(eric.cousineau): Make an optional `.all` module.
@@ -167,6 +173,9 @@ def _build(*, out_dir, temp_dir, modules):
         out_dir,
     ])
 
+    # Tidy up.
+    perl_cleanup_html_output(out_dir=out_dir)
+
     # The filename to suggest as the starting point for preview; in this case,
     # it's an empty filename (i.e., the index page).
     return [""]

diff --git a/solvers/constraint.h b/solvers/constraint.h
@@ -1023,7 +1023,7 @@ class ExpressionConstraint : public Constraint {
  * generic nonlinear optimization. It is possible that the nonlinear solver
  * can accidentally set z₁ = 0, where the constraint is not well defined.
  * Instead, the user should consider to solve the program through conic solvers
- * that can exploit exponential cone, such as Mosek and SCS.
+ * that can exploit exponential cone, such as MOSEK™ and SCS.
  *
  * @ingroup solver_evaluators
  */

diff --git a/solvers/mathematical_program.h b/solvers/mathematical_program.h
@@ -1187,7 +1187,7 @@ class MathematicalProgram {
    * Adds an L2 norm cost min |Ax+b|₂ as a linear cost min s
    * on the slack variable s, together with a Lorentz cone constraint
    * s ≥ |Ax+b|₂
-   * Many conic optimization solvers (Gurobi, Mosek, SCS, etc) natively prefers
+   * Many conic optimization solvers (Gurobi, MOSEK™, SCS, etc) natively prefers
    * this form of linear cost + conic constraints. So if you are going to use
    * one of these conic solvers, then add the L2 norm cost using this function
    * instead of AddL2NormCost().

diff --git a/solvers/mathematical_program_doxygen.h b/solvers/mathematical_program_doxygen.h
@@ -73,7 +73,7 @@
  *    <td></td>
  *  </tr>
  * <tr><td><a href="https://www.mosek.com/products/mosek">
- *    Mosek</a> †</td>
+ *    MOSEK™</a> †</td>
  *    <td align="center">♦</td>
  *    <td align="center">♦</td>
  *    <td align="center">♦</td>
@@ -182,7 +182,7 @@
  *    <td></td>
  *  </tr>
  * <tr><td><a href="https://www.mosek.com/products/mosek">
- *    Mosek</a> †</td>
+ *    MOSEK™</a> †</td>
  *    <td align="center">♦</td>
  *    <td align="center">♦</td>
  *    <td align="center">♦</td>

diff --git a/solvers/mathematical_program_result.h b/solvers/mathematical_program_result.h
@@ -300,7 +300,7 @@ class MathematicalProgramResult final {
    * 2. For nonlinear solvers like IPOPT, the dual solution for Lorentz cone
    *    constraint (with EvalType::kConvex) is the shadow price for
    *    z₀ - sqrt(z₁² + ... +zₙ²) ≥ 0, where z = Ax+b.
-   * 3. For other convex conic solver such as SCS, Mosek, CSDP, etc, the dual
+   * 3. For other convex conic solver such as SCS, MOSEK™, CSDP, etc, the dual
    *    solution to the (rotated) Lorentz cone constraint doesn't have the
    *    "shadow price" interpretation, but should lie in the dual cone, and
    *    satisfy the KKT condition. For more information, refer to
@@ -310,7 +310,7 @@ class MathematicalProgramResult final {
    * The interpretation for the dual variable to conic constraint x ∈ K can be
    * different. Here K is a convex cone, including exponential cone, power
    * cone, PSD cone, etc. When the problem is solved by a convex solver (like
-   * SCS, Mosek, CSDP, etc), often it has a dual variable z ∈ K*, where K* is
+   * SCS, MOSEK™, CSDP, etc), often it has a dual variable z ∈ K*, where K* is
    * the dual cone. Here the dual variable DOESN'T have the interpretation of
    * "shadow price", but should satisfy the KKT condition, while the dual
    * variable stays inside the dual cone.