code: def cleanup(self):
          
          # cost from this node to the goal
          self.h = 0.0
  
          # cost from the start node to this node
          self.g = 0.0
  
          # distance from start to this point (f = g + h )
          self.f = 0.0
  
          self.opened = 0
          self.closed = False
  
          # used for backtracking to the start point
          self.parent = None
  
          # used for recurion tracking of IDA*
          self.retain_count = 0
          # used for IDA* and Jump-Point-Search
          self.tested = False
docs: reset all calculated values, fresh start for pathfinding