【Latex】latex写伪代码

 代码：

\documentclass[12pt, letterpaper]{article}
\usepackage[ruled,lined]{algorithm2e}
\usepackage{algpseudocode}

\begin{document}  
	\begin{algorithm}[H]
		\caption{RRT Algorithm}  
		\LinesNumbered
		\KwIn{$\mathcal{M}$: map information\newline
			$q_{init}$: start point\newline
			$q_{goal}$: end point\newline
			$d_q$: step size
		}
		\KwOut{$\mathcal{T}$: tree}  
		\textbf{Initialize:} $\mathcal{T}.addEdge(q_{init},q_{init})$;\\
		\For{$i \in [1,n]$}{
			$q_{rand} \gets Sample(\mathcal{M});$\\
			$q_{near} \gets Near(q_{rand},\mathcal{T});$\\
			$q_{new} \gets Steer(q_{rand},q_{near},d_q);$\\
			$E_i \gets Edge(q_{new},q_{near});$\\
			\If{$CollisionFree(\mathcal{M},E_i)$}{
				$\mathcal{T}.addEdige(E_i)$;
			}
			\If{$q_{new}=q_{goal}$}{
				break;
			}
		}
	\end{algorithm}
\end{document}  

 结果：