e">yStart</td><td>start y coordinate </td></tr>
    <tr><td class="paramname">xGoal</td><td>goal x coordinate </td></tr>
    <tr><td class="paramname">yGoal</td><td>goal y coordinate </td></tr>
    <tr><td class="paramname">useJps</td><td>if true, enable JPS search; else the planner is implementing A* </td></tr>
    <tr><td class="paramname">maxExpand</td><td>maximum number of expansion allowed, optional, default is -1, means no limitation </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor"