| 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 |