for(s in 1:nrow(kStates)){
    innerSum1 <- rep(0, m)
    innerSum2 <- rep(0, m)
    for(k in 1:m){#current state
      for(j in 1:m){#observed det lvl
       nextStateNr1 <- insp1StateNr[s,j]
       nextStateNr2 <- insp2StateNr[s,j]
       innerSum1[k] <- innerSum1[k] + obsProbsInsp1[k,j]*min(c2goDN[nextStateNr1], c2goPM[nextStateNr1])
       innerSum2[k] <- innerSum2[k] + obsProbsInsp2[k,j]*min(c2goDN[nextStateNr2], c2goPM[nextStateNr2])
      }
    }
    c2goInsp1[s] <- c_insp1 + sum(kStates[s,]*c(innerSum1,0))
    c2goInsp2[s] <- c_insp2 + sum(kStates[s,]*c(innerSum2,0))
  }