nav2d_final_small_dag.txt

N s 1.2 0 0 0 N
N lc 1.2 0 0 0 N
N lp 1.0 0 0 0 N
N mapcb 2.52 0 640 0 S 20 
N mapupd 291 0 640 0 N
N navp 197.5 0 1000 0 N
N navc 1.2 0 0 0 N
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 50 s lc lp X
C 6624 s mapcb navc lp X
C 6984 s mapcb navp navc lp X
C 9144 s mapcb mapupd navp navc lp X
constraint