public static void backup(SMANode node, SearchableGraph map, OpenQueue open){
    if(completed(node, map, open) && node.parent != null){
      double lowestFcost = Double.POSITIVE_INFINITY;

      //find lowest fcost of Successors
      for(String link : map.getLinks(node.label)){
        double childFcost = node.cost +
            map.getPathCost(node.label,link) +
            map.getHeuristic(link);
        if(childFcost < lowestFcost){
          lowestFcost = childFcost;
        }
      }

      if(node.fcost != lowestFcost){
        node.fcost = lowestFcost;
        backup(node.parent, map, open);
      }
    }
  }