your system if your system has peculiar dynamics you cannot just do straight lines but if your system is able to follow any path except when there are obstacles thing you can do straight lines if there's no obstacle so that's shortcutting is a little more detail in the slides and often actually you also run non-linear optimization for control actually at the end to smooth out your path and get a locally optimal path so those are the highlights of what you didn't cover but we're gonna not cover in more detail but the slides have the