In today's behind closed doors session, we saw creative director on Uncharted 4 (and The Last of Us) Neil Druckmann play through that same section of the game live, and then some. Even the beginning portion was a bit different, though, as Druckmann took different routes through the city. "We're playing it one specific way but there's all kinds of options," he explained.
At the end of this, Drake goes crashing through the wooden plank, skips across the water, and ends up getting dragged through the mud on the other side. All the while he's shooting with one hand, hanging on for dear life with the other, because he is very strong. It's not quite just a set piece set up as that grappling hook is a huge part of Uncharted 4's gameplay systems and you'll always be able to shoot from it.