External dependencies used in public headers

[jamiesnape]

Edit: Scroll to the bottom of this page for the most recent list of public header dependencies.

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This is the list of external dependencies used directly in public headers as of Nov 6, 2018:

# lcmtypes_bot2_core
<bot_core/atlas_command_t.hpp>
<bot_core/pointcloud_t.hpp>
<bot_core/position_3d_t.hpp>
<bot_core/quaternion_t.hpp>
<bot_core/robot_state_t.hpp>
<bot_core/twist_t.hpp>
<bot_core/vector_3d_t.hpp>

# dreal
<dreal/dreal.h>

# eigen
<Eigen/Core>
<Eigen/Dense>
<Eigen/Eigenvalues>
<Eigen/Geometry>
<Eigen/LU>
<Eigen/SparseCore>
<Eigen/StdVector>
<unsupported/Eigen/AutoDiff>
<unsupported/Eigen/Polynomials>

# fmt
<fmt/format.h>
<fmt/ostream.h>

# com_github_gflags_gflags
<gflags/gflags.h>

# protobuf
<google/protobuf/arena.h>
<google/protobuf/arenastring.h>
<google/protobuf/extension_set.h>
<google/protobuf/generated_enum_reflection.h>
<google/protobuf/generated_message_table_driven.h>
<google/protobuf/generated_message_util.h>
<google/protobuf/inlined_string_field.h>
<google/protobuf/io/coded_stream.h>
<google/protobuf/io/zero_copy_stream_impl.h>
<google/protobuf/message.h>
<google/protobuf/metadata.h>
<google/protobuf/repeated_field.h>
<google/protobuf/stubs/common.h>
<google/protobuf/unknown_field_set.h>

# ignition_math
<ignition/math/Pose3.hh>
<ignition/math/Spline.hh>
<ignition/math/Vector3.hh>

# ignition_rndf
<ignition/rndf/UniqueId.hh>

# lcm
<lcm/lcm_coretypes.h>
<lcm/lcm-cpp.hpp>

# optitrack_driver
<optitrack/optitrack_data_descriptions_t.hpp>
<optitrack/optitrack_frame_t.hpp>

# lcmtypes_robotlocomotion
<robotlocomotion/image_array_t.hpp>
<robotlocomotion/image_t.hpp>
<robotlocomotion/robot_plan_t.hpp>

# spdlog
<spdlog/fmt/ostr.h>
<spdlog/spdlog.h>

# stx
<stx/optional.hpp>

# tinyxml2
<tinyxml2.h>

# vtk
<vtkActor.h>
<vtkAutoInit.h>
<vtkCommand.h>
<vtkImageExport.h>
<vtkNew.h>
<vtkPolyDataAlgorithm.h>
<vtkRenderer.h>
<vtkRenderWindow.h>
<vtkShaderProgram.h>
<vtkSmartPointer.h>
<vtkWindowToImageFilter.h>

[jwnimmer-tri]

This is great visibility, thanks. I'm thinking we should have more tests like drake/bindings/python/pydrake/test/testCommonInstall.py that acceptance test the installation. Sanity-checking the list of non-Drake includes in Drake headers would be a great one.

[jamiesnape]

#7455 adds <sdf/sdf.hh>.

[amcastro-tri]

I don't know if it matters, but <sdf/sdf.hh> was introduced in #6496

[jamiesnape]

That is just in an example, so not in a public header.

[jamiesnape]

Apparently VTK found its way into public headers, or more precisely I think #9830 directly or indirectly made public some headers that include VTK:

drake/geometry/dev/render/render_engine_vtk.h

Lines 8 to 18 in b795c58

	#include <vtkActor.h>
	#include <vtkAutoInit.h>
	#include <vtkCommand.h>
	#include <vtkImageExport.h>
	#include <vtkNew.h>
	#include <vtkPolyDataAlgorithm.h>
	#include <vtkRenderWindow.h>
	#include <vtkRenderer.h>
	#include <vtkShaderProgram.h>
	#include <vtkSmartPointer.h>
	#include <vtkWindowToImageFilter.h>

[jwnimmer-tri]

Here's a brief update as of v0.23.0:

# Unwanted includes (i.e., recent regressions) -- will be fixed in #14221.
<ignition/...>
<fcl/...>

# Built from source.
<fmt/...>
<lcm/...>
<spdlog/...>

# LCM message types.
"bot_core/..."
"optitrack/..."
"robotlocomotion/..."

# Coming from Ubuntu or macOS host system:
<Eigen/...>
<tinyxml2.h>
<yaml-cpp/...>

[jwnimmer-tri]

Update as of v0.32.0:

# Built from source.
#include <lcm/...>

# LCM message types.
#include <optitrack/...>

# Coming from Ubuntu or macOS host system:
#include <Eigen/...>
#include <fmt/...>     // (built from source on Bionic)
#include <spdlog/...>  // (built from source on Bionic)
#include <tinyxml2.h>
#include <yaml-cpp/yaml.h>

[jwnimmer-tri]

Update as of v0.34.0:

# Built from source.
#include <lcm/...>

# LCM message types.
#include <optitrack/...>

# Coming from Ubuntu or macOS host system:
#include <Eigen/...>
#include <fmt/...>     // (built from source on Bionic)
#include <spdlog/...>  // (built from source on Bionic)
#include <yaml-cpp/yaml.h>

The only change that tinyxml2.h is no longer in public headers.

[jwnimmer-tri]

Update as of v1.17.0:

# Built from source.
#include <lcm/...>

# LCM message types.
#include <optitrack/...>

# Coming from Ubuntu or macOS host system:
#include <Eigen/...>
#include <fmt/...>
#include <spdlog/...>

See #19600 for the next planned purge (optitrack messages).