Clean implementation of Gradient.

Author: jespersmith

IHMCFootstepPlanning/test/us/ihmc/footstepPlanning/scoring/BipedalStepAdjustmentCostCalculatorTest.java

@@ -20,6 +20,7 @@
 import us.ihmc.graphicsDescription.appearance.AppearanceDefinition;
 import us.ihmc.graphicsDescription.appearance.YoAppearance;
 import us.ihmc.graphicsDescription.appearance.YoAppearanceRGBColor;
+import us.ihmc.graphicsDescription.color.Gradient;
 import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon;
 import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry;
 import us.ihmc.robotics.MathTools;
@@ -33,7 +34,6 @@
 import us.ihmc.simulationconstructionset.Robot;
 import us.ihmc.simulationconstructionset.SimulationConstructionSet;
 import us.ihmc.simulationconstructionset.util.simulationTesting.SimulationTestingParameters;
-import us.ihmc.tools.color.Gradient;
 import us.ihmc.tools.thread.ThreadTools;
 
 public class BipedalStepAdjustmentCostCalculatorTest

IHMCGraphicsDescription/src/us/ihmc/graphicsDescription/color/Gradient.java

@@ -0,0 +1,75 @@
+package us.ihmc.graphicsDescription.color;
+
+import java.awt.Color;
+
+/**
+ * Class to create color gradients.
+ *
+ */
+public class Gradient
+{
+   public static Color[] createRainbow(int steps)
+   {
+      return createMultiGradient(new Color[] { Color.magenta, Color.blue, Color.green, Color.yellow, Color.orange, Color.red }, steps);
+   }
+
+   public static Color[] createGradient(Color start, Color end, int steps)
+   {
+      int startRed = start.getRed();
+      int startGreen = start.getGreen();
+      int startBlue = start.getBlue();
+      int startAlpha = start.getAlpha();
+
+      int endRed = end.getRed();
+      int endGreen = end.getGreen();
+      int endBlue = end.getBlue();
+      int endAlpha = end.getAlpha();
+
+      Color[] gradient = new Color[steps];
+
+      double redRange = (endRed - startRed);
+      double greenRange = (endGreen - startGreen);
+      double blueRange = (endBlue - startBlue);
+      double alphaRange = (endAlpha - startAlpha);
+      
+      for (int i = 0; i < steps; i++)
+      {
+         double stepFactor = (double) i / (double) steps; 
+         
+         gradient[i] = new Color(startRed + (int) (stepFactor * redRange), startGreen + (int) (stepFactor * greenRange), startBlue + (int) (stepFactor * blueRange), startAlpha + (int) (stepFactor * alphaRange));
+      }
+
+      return gradient;
+   }
+
+   public static Color[] createMultiGradient(Color[] colors, int steps)
+   {
+      if(colors.length < 2)
+      {
+         throw new IllegalArgumentException("Need at least 2 colors for a gradient");
+      }
+      
+      
+      Color[] gradient = new Color[steps];
+      
+      int stepsBetween = steps / (colors.length - 1); 
+      
+      
+      int index = 0;
+      for (int i = 0; i < colors.length - 1; i++)
+      {
+         Color[] thisGradient = createGradient(colors[i], colors[i + 1], stepsBetween);
+         
+         System.arraycopy(thisGradient, 0, gradient, index, stepsBetween);
+         index += stepsBetween;
+      }
+      
+      for(; index < steps; index++)
+      {
+         gradient[index] = colors[colors.length - 1];
+      }
+      
+      return gradient;
+   }
+
+}

IHMCJavaToolkit/test/us/ihmc/tools/color/GradientTest.java renamed to IHMCGraphicsDescription/test/us/ihmc/graphicsDescription/color/GradientTest.java

@@ -1,4 +1,4 @@
-package us.ihmc.tools.color;
+package us.ihmc.graphicsDescription.color;
 
 import static org.junit.Assert.assertTrue;
 
@@ -8,6 +8,7 @@
 
 import us.ihmc.continuousIntegration.ContinuousIntegrationAnnotations.ContinuousIntegrationPlan;
 import us.ihmc.continuousIntegration.ContinuousIntegrationAnnotations.ContinuousIntegrationTest;
+import us.ihmc.graphicsDescription.color.Gradient;
 import us.ihmc.commons.Assertions;
 import us.ihmc.commons.RunnableThatThrows;
 import us.ihmc.continuousIntegration.IntegrationCategory;

IHMCJavaFXToolkit/src/us/ihmc/javaFXToolkit/graphing/JavaFXHeatmapGraph.java

@@ -25,6 +25,7 @@
 import us.ihmc.euclid.transform.AffineTransform;
 import us.ihmc.euclid.tuple2D.Point2D;
 import us.ihmc.graphicsDescription.color.ColorConversions;
+import us.ihmc.graphicsDescription.color.Gradient;
 import us.ihmc.yoVariables.dataBuffer.DataEntry;
 import us.ihmc.yoVariables.dataBuffer.DataEntryHolder;
 import us.ihmc.yoVariables.dataBuffer.TimeDataHolder;
@@ -33,7 +34,6 @@
 import us.ihmc.robotics.MathTools;
 import us.ihmc.yoVariables.registry.YoVariableRegistry;
 import us.ihmc.yoVariables.variable.YoDouble;
-import us.ihmc.tools.color.Gradient;
 
 public class JavaFXHeatmapGraph
 {
@@ -60,6 +60,8 @@ public class JavaFXHeatmapGraph
    private Point2D gridCenter;
    private Point2D plotPencil;
    private Point2D viewRange;
+   
+   private final java.awt.Color[] rainbow = Gradient.createRainbow(500);
 
    public JavaFXHeatmapGraph(YoVariableRegistry registry, GraphIndicesHolder graphIndicesHolder, SelectedVariableHolder selectedVariableHolder,
                              DataEntryHolder dataEntryHolder, TimeDataHolder dataBuffer)
@@ -238,7 +240,7 @@ private Color getHeatColor(int heat)
    {
       double maxHeat = 30.0;
       int heatIndex = (int) MathTools.roundToPrecision(MathTools.clamp((heat / maxHeat) * 500.0, 0.0, 499.0), 1.0);
-      return ColorConversions.awtToJfx(Gradient.GRADIENT_RAINBOW[heatIndex]);
+      return ColorConversions.awtToJfx(rainbow[heatIndex]);
    }
 
    private void fillRect(double x, double y, double width, double height)