DRV8412: Loc and Rsense_CD(Option) on Figure15

Part Number:DRV8412

Hi all

Would you mind if we ask DRV8412?

On the datasheet Figure 15. Application Diagram Example for Parallel Full Bridge Mode Operation Schematic, there are Loc and Rsense_CD(Option).
Do these(Loc and Rsense_CD) require absolutely?
Our condition is as follows;
https://e2e.ti.com/support/applications/motor_drivers/f/38/t/714614

Kind regards,

Hirotaka Matsumoto