footstep algorithm

3d_footstep_algorithm.tex

\begin{algorithm}
  \caption{3-D Footstep Planning with A*}
  \begin{algorithmic}
    \STATE $O \Leftarrow <S>$
    \STATE $C \Leftarrow \emptyset$
    \WHILE{$O$}
    \STATE $N \Leftarrow pop(O)$
    \IF{$N$ is $G$}
      \RETURN $path(N)$
    \ENDIF
    %% \STATE $succ \Leftarrow expand(N)$
    %% \FOR{$n$ in $succ$}
    %%   \IF{$n$ not in $C$}
    %%     \STATE $O \Leftarrow n + O$
    %%   \ENDIF
    %% \ENDFOR
    \STATE $succ \Leftarrow \emptyset$
    \FOR{$n$ in $expand(N)$}
    \STATE $succ \Leftarrow project(n)$
    \ENDFOR
    \STATE $C \Leftarrow N + C$
    \ENDWHILE
  \end{algorithmic}
\end{algorithm}

footstep_algorithm.tex

\begin{algorithm}
  \caption{Footstep Planning with A*}
  \begin{algorithmic}
    \STATE $O \Leftarrow <S>$
    \STATE $C \Leftarrow \emptyset$
    \WHILE{$O$}
    \STATE $N \Leftarrow pop(O)$
    \IF{$N$ is $G$}
      \RETURN $path(N)$
    \ENDIF
    \STATE $succ \Leftarrow expand(N)$
    \FOR{$n$ in $succ$}
      \IF{$n$ not in $C$}
        \STATE $O \Leftarrow n + O$
      \ENDIF
    \ENDFOR
    %% \STATE $succ \Leftarrow \emptyset$
    %% \FOR{$n$ in $expand(N)$}
    %% \STATE $succ \Leftarrow project(n)$
    %% \ENDFOR
    \STATE $C \Leftarrow N + C$
    \ENDWHILE
  \end{algorithmic}
\end{algorithm}