public function propagate(node $node, $parent, $parentID) { $node->parent = $parent; $node->parentID = $parentID; $node->gCostOfParent = $node->getGCostOfParent(); $node->gCostToParent = $node->getGCostToParent(); $node->gTotal = $node->calculateTotalGCost(); $node->fValue = $node->calculateFValue(); }