Input: () 
Output: a set of sampling points 
(1) 
(2) for all do 
(3) 
(4) for all such that do 
(5) 
(6) end for 
(7) if then 
(8) exit is not covered by . * 
(9) end if 
(10) List the points in sorted by their azimuth 
angles on the polar coordinate system 
with reference to 
(11) for all such that do 
(12) 

(13) end for 
(14) 

(15)end for 