question: 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 ; }
target:  This method is the initialization phase of the algorithm. It has to be called to generate a set of samples of count N.