public Set<P> generateCloud(int N){
  Set<P> samples=new LinkedHashSet<P>();
  Integer[] indexes=new Integer[N];
  for (int i=0; i < N; i++) {
    samples.add(map.randomPose());
    indexes[i]=i;
  }
  sampleIndexes=new RandVar(SAMPLE_INDEXES_NAME,new FiniteIntegerDomain(indexes));
  return samples;
}

public Set < P > generateCloud ( int N ) { Set < P > samples = new LinkedHashSet < P > ( ) ; Integer [ ] indexes = new Integer [ N ] ; for ( int i = 0 ; i < N ; i ++ ) { samples . add ( map . randomPose ( ) ) ; indexes [ i ] = i ; } sampleIndexes = new RandVar ( SAMPLE_INDEXES_NAME , new FiniteIntegerDomain ( indexes ) ) ; return samples ; }
this method is the initialization phase of the algorithm . it has to be called to generate a set of samples of count n .
