Using a DTM slope map to find the shortest route between two locations

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I've got two locations, A and B, and a DTM covering the region between A and B. Say I want to drive from A to B. I want the shortest route possible, but avoiding regions with slopes higher than, let's say 30 degrees. My question is if there is a GIS (QGIS, ArcGIS) tool which can calculate such a path? If needed I can also script using python.



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