\begin{enumerate}
\item Add $\pc$ to $\allpatches$ if it is not there already.
\item Let $\set S_{\pcn} = h(\pcn)
- \cup \{ \baseof{E} \; | \; \pendsof{ \left[
- \bigcup_{\p \in \allpatches} h(\pn) \cup h(\py)
- \right]
- }{ \pcy } \} $
+ \cup
+ \bigcup_{\p \in \allpatches}
+ \bigcup_{H \in h(\pn) \lor H \in h(\py)}
+ \{ \baseof{E} \; | \; E \in \pendsof{H}{\pcy} \} $.
+
+(We write $\set S = \set S_{\pcn}$ when it's not ambiguous.)
\end{enumerate}
\section{Planning phase}