child.path_prev = wp;
child.pathlib_list = openlist;
child.pathlib_node_g = wp.pathlib_node_g + cost;
child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;
child.path_prev = wp;
child.pathlib_list = openlist;
child.pathlib_node_g = wp.pathlib_node_g + cost;
child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;