private void f(AStarGoal<N> goal, N node, N neighbour) {
float g = node.g + goal.g(node, neighbour); // estimate the cost from
// the start additively
float h = goal.h(neighbour);
neighbour.f = g + h;
neighbour.g = g;
neighbour.h = h;
}
private AStarStorage getInitialisedStorage(AStarGoal<N> goal, N start) {
AStarStorage storage = storageSupplier.get();
storage.open(start);
start.f = goal.getInitialCost(start);
return storage;
}