Well there's not a nice easy general "do this" solution. For simple movement you could try cpBodySlew. JumpTo is harder. Normally you would have a fixed jump, not a "jump from here to there" (where the 'there' can be anywhere relative to 'here'). Do you really need that? Can you not have a few fixed jumps? i.e. you have different impulses that "throw" the object in desired arcs.
Couple of ideas. Hopefully someone who's tried this will have some better help
1) Look at thread. Think of the jump as trying to fire a ball from the current point to the desired point.
2) Somehow calculate a curve from the 'here' to 'there' and use cpBodySlew to move towards a set of points along it's path.i.e. pick (say) 5 points on the curve and move towards the first, once near move towards the next etc. I suspect it would be very hard to stop jerky/angular movement
3) It might be possible to use constraints. Look at how the grab with mouse code works (I'm sure the demos have some, also there is . Now imagine setting the point you want to jumpTo as the mouse position. The object will be pulled towards it (in a straight line). Now by adjusting the velocity you should be able to get a curve.