\begin{algorithm}[H] \caption{Generating the Cartesian Map} \label{genmap} \begin{algorithmic} \Require{} \Ensure{A map $\vect{m}(\vect{p})$ with each cell containing a list of valid angle sets} \Statex \Function{GenMap}{} \ForAll{$\vect{q} \gets \text{ValidAngleCombinations}$} \State $\vect{p} \gets \mathrm{endpos}(\vect{q})$ \State $\vect{m}(p).\mathrm{append}(\vect{q})$ \EndFor \EndFunction \end{algorithmic} \end{algorithm}