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## PER.rover
Class TakePanoramaAction

    java.lang.Object
      PER.rover.TakePanoramaAction

All Implemented Interfaces:
  Action, java.io.Serializable

public class TakePanoramaAction
extends java.lang.Object
implements Action

Takes panoramic images.

See Also:
  Serialized Form

Field Summary
`static int` | `FOV_HEIGHT`
`static int` | `FOV_WIDTH`

Constructor Summary
`TakePanoramaAction()` Creates new TakePanoramaAction from angles -50 to 0 at 320x240
`TakePanoramaAction(int lowAng, int highAng, int width, int height)` Creates a new TakePanoramaAction with options for the tilt angle and image size.

Method Summary
`boolean` | `doAction(Rover r)` Takes a panorama.
`java.awt.image.BufferedImage` | `getImage()` Returns the panoramic image taken by the action.
`long` | `getImageUpdateTime()` Lets you know when the last image was taken by this action.
`java.awt.image.BufferedImage` | `getRecentImage()` Returns the most recent image taken by this Action.
`int` | `getReturnValue()` The return value of the Action.
`java.lang.String` | `getShortSummary()` Provides a shortened version of the summary returned by getSummary.
`java.lang.String` | `getSummary()` Provides a textual explanation of the Action, such as "turn 90 degrees"
`int` | `getTime()` How long the action will take, in milliseconds.
`int` | `getTimeRemaining()` How much time until the action finishes (in milliseconds), if it has already started.
`long` | `ImagesDone()`
`boolean` | `isCompleted()` Whether the action has completed.
`boolean` | `isSuccess()` Whether the action completed successfully.
`void` | `kill()` Emergency stop - end the action immediately, if it's running.
`long` | `lastTimeImageUpdated()` Returns the time (in ms) when the panoramic image was last updated with a new picture from the rover.
`boolean` | `setAngles(int lowAng, int highAng)` Sets the low and high angles to be used for the panorama.

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Field Detail

### FOV_WIDTH

    public static final int FOV_WIDTH

See Also:
  Constant Field Values

### FOV_HEIGHT

    public static final int FOV_HEIGHT

See Also:
  Constant Field Values

Constructor Detail

### TakePanoramaAction

    public TakePanoramaAction()

  Creates new TakePanoramaAction from angles -50 to 0 at 320x240

### TakePanoramaAction

    public TakePanoramaAction(int lowAng,
                              int highAng,
                              int width,
                              int height)

  Creates a new TakePanoramaAction with options for the tilt angle and image size.

Parameters:
  `lowAng` - The minimum tilt angle that the picture includes.
  `highAng` - The maximum tilt angle that the picture includes.
  `width` - The width in pixels of the target image.
  `height` - The height in pixels of the target image.

Method Detail

### setAngles

    public boolean setAngles(int lowAng,
                             int highAng)

  Sets the low and high angles to be used for the panorama.

  Returns:
    False if the low angle is not less that the high angle.

### getImage

    public java.awt.image.BufferedImage getImage()

  Returns the panoramic image taken by the action. May be null if the image has not yet been taken.

  This method is included for backwards compatibility. `getRecentImage` performs the same function.

  See Also:
    `getRecentImage()`

### isSuccess

    public boolean isSuccess()

  Description copied from interface: `Action`
  Whether the action completed successfully. Undefined until isCompleted() returns true.

  Specified by:
    `isSuccess` in interface `Action`

### doAction

    public boolean doAction(Rover r)

  Takes a panorama.

  Specified by:
    `doAction` in interface `Action`

### getSummary

    public java.lang.String getSummary()

  Description copied from interface: `Action`
  Provides a textual explanation of the Action, such as "turn 90 degrees"

  Specified by:
    `getSummary` in interface `Action`

### getReturnValue

    public int getReturnValue()

  Description copied from interface: `Action`
  The return value of the Action. Zero is a success. Negative implies one of this class's constants. Other values should be interpreted as appropriate.

  Specified by:
    `getReturnValue` in interface `Action`
  See Also:
    `RoverState`, `ActionConstants`

### getTime

    public int getTime()

  Description copied from interface: `Action`
  How long the action will take, in milliseconds.

  Specified by:
    `getTime` in interface `Action`

### getShortSummary

    public java.lang.String getShortSummary()

  Description copied from interface: `Action`
  Provides a shortened version of the summary returned by getSummary. For example, getSummary may return something like "Turn left and drive about 39 inches toward the red landmark," whereas getShortSummary might just return "Drive toward a landmark."

  Specified by:
    `getShortSummary` in interface `Action`

### isCompleted

    public boolean isCompleted()

  Description copied from interface: `Action`
  Whether the action has completed. Undefined until doAction has been called.

  Specified by:
    `isCompleted` in interface `Action`

### kill

    public void kill()

  Description copied from interface: `Action`
  Emergency stop - end the action immediately, if it's running.

  Specified by:
    `kill` in interface `Action`

### getTimeRemaining

    public int getTimeRemaining()

  Description copied from interface: `Action`
  How much time until the action finishes (in milliseconds), if it has already started. Undefined behavior if the action has not yet begun, or has finished.

  Specified by:
    `getTimeRemaining` in interface `Action`

### lastTimeImageUpdated

    public long lastTimeImageUpdated()

  Returns the time (in ms) when the panoramic image was last updated with a new picture from the rover.

  This method is here for backwards compatibility. New programs should use `getImageUpdateTime`.

  See Also:
    `getImageUpdateTime()`

### ImagesDone

    public long ImagesDone()

### getImageUpdateTime

    public long getImageUpdateTime()

  Description copied from interface: `Action`
  Lets you know when the last image was taken by this action. If the Action does not take pictures or the first picture has not yet been taken, will return 0.

  Specified by:
    `getImageUpdateTime` in interface `Action`
  Returns:
    the system time in milliseconds when the last image was taken or 0 if no images have been taken

### getRecentImage

    public java.awt.image.BufferedImage getRecentImage()

  Description copied from interface: `Action`
  Returns the most recent image taken by this Action. The image will be null if the Action does not take pictures or the first picture has not yet been taken.

  Specified by:
    `getRecentImage` in interface `Action`
  Returns:
    the most recent picture taken by the Action.

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