question: private void updateSubTree ( final TreeNode node ) { int c = node . numChildren ; final Stack < TreeNode > nodeStack = new Stack < TreeNode > ( ) ; nodeStack . push ( node ) ; TreeNode parentTemp ; TreeNode child ; while ( nodeStack . size ( ) > 0 ) { parentTemp = nodeStack . pop ( ) ; c = parentTemp . numChildren ; for ( int i = 0 ; i < c ; i ++ ) { child = parentTemp . children [ i ] ; if ( parentTemp . g + child . getCost ( ) < child . g ) { parentTemp . updateChild ( child ) ; nodeStack . push ( child ) ; } } } }
target:  Update the parents for the new route.