nav2d_dag.txt

N s 1
N lc 3
N lp 10
N mapcb 300
N mapupd 160
N navp 198
N navc 7
E s lc mapcb X
E lc lp X
E mapcb navc navp mapupd X
E mapupd navp X
E navp navc X
E navc lp X
C 120 s lc lp X
C 400 s mapcb navc lp X
C 600 s mapcb navp navc lp X
C 800 s mapcb mapupd navp navc lp X
constraint