ramtype">int&#160;</td>
          <td class="paramname"><em>maxExpand</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>start 3D planning thread </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xStart</td><td>start x coordinate </td></tr>
    <tr><td class="paramname">yStart</td><td>start y coordinate </td></tr>
   