code: private boolean updateConsistent(N node, N parent, Transition<A, S> transition) {
          // parent.getG().add(this.costFunction.evaluate(transition));
          C accumulatedCost = add.apply(parent.getG(), costFunction.evaluate(transition));
          if (node.getG().compareTo(accumulatedCost) > 0) {
              node.setPreviousNode(parent);
              // node.previousNode = parent;
              node.setG(accumulatedCost);
              node.setState(transition.getState());
              node.setAction(transition.getAction());
              // node.state = transition;
              node.setKey(new es.usc.citius.hipster.model.ADStarNode.Key<C>(node.getG(), node.getV(),
                      heuristicFunction.estimate(transition.getState()), epsilon, add, scale));
              return true;
          }
          return false;
      }
docs: Updates a node in consistent state (V > G) updating the path
  and the cost if the parent node and the transition improves the current cost of the node.
  
  @param node {@link es.usc.citius.hipster.algorithm.ADStarForward} node to update, in consistent state
  @param parent previous {@link es.usc.citius.hipster.algorithm.ADStarForward} of the node
  @param transition {@link es.usc.citius.hipster.model.Transition} between the parent and the node
  @return true if the node has changed its {@link es.usc.citius.hipster.model.impl.ADStarNodeImpl.Key}