| Algorithm 5. Sampleright | |
| 1 | nnearest ← nnearest; p ← p; |
| 2 | b1, b2 ← rectangle(nnearest, ngoal, p); |
| 3 | S’rec ← Srec(a, r); |
| 4 | nnew ← Sample(S’rec); |
| 5 | Return nnew; |
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