 <tr><td class="paramname">zStart</td><td>start z 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">zGoal</td><td>goal z 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, defaul