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closes #4413 and #4419 When VerifyHeaderAtHeight() is called, TrustedHeader is initially run to check if the header has already been verified and returns the Header. If the new header height is less than the lite clients latestTrustedHeader height, than backwards verification is performed else either sequence or bisection Refactored a test to reflect the changes * use trustedHeader func for already verified Headers * remove fetch missing header from TrustedHeader * check for already trusted Header in VerifyHeaderAtHeight * replace updateTrustedHeaderAndVals to updateTrustedHeaderAndNextVals * rename trustedHeader and trustedNextVals * refactored backwards and included it in VerifyHeader * cleaned up test to match changes * lite2: fixes after my own review Refs https://github.com/tendermint/tendermint/pull/4428#pullrequestreview-361730169 * fix ineffectual assignment * lite2: check that header exists in VerifyHeader * extract function Co-authored-by: Anton Kaliaev <anton.kalyaev@gmail.com>