directions do you focus on so all those things in terms of like down sampling and foliation and choosing the the extent of the algorithm you run are pretty important to finding the the best balance and so for example if you're flying really fast at such that it's really dynamically infeasible for you to even move in these other directions for the purpose of navigation it doesn't really make sense to focus your efforts there you really want to kind of like pick the cone of just do tunnel vision there now the kind of in a different