The feat Charge Through provides a way to charge through squares containing enemies.
Regarding jumping over obstacles:
We've had a lot of discussions in our area about jumping obstacles on a charge. Since Janni Style says you can jump as part of a charge, it seems like you should be able to jump over obstacles while charging, but the rules say your path must be clear.
We've been using the following compromise: If your Acrobatics bonus is high enough that you can beat the jump DC on a natural 1, then you can jump the obstacle on a charge. If you can't possibly fail the jump, it doesn't seem like it counts as an obstacle.
So most characters could probably jump a 5 ft gap or a bench or something on a charge (that would be the equivalent of hurdle races.) Dex based characters could easily clear a 10-15 foot gap on a charge (like in Parkour).