Permalink / Shortlink / or URL?

I keep running into these choices for using these three different link types and not sure which to use.

Here are examples of the same image in three different forms:

url = http://www.rebeccahalldesign.com/slicks/wp-content/uploads/2015/07/bw-bodyshop1.jpg

shortlink = http://www.rebeccahalldesign.com/slicks/?p=82

permalink = http://www.rebeccahalldesign.com/slicks/?attachment_id=82

Here is a blog post I found by Gretchen Louise with some answers:

http://gretchenlouise.com/wordpress-permalinks-shortlinks-slugs/

Short links are based on the numerical ID that doesn’t change, so if I decide to change my post title or page slug, I won’t run into any trouble of breaking links. These are also good for Twitter, just in case I were to change the post slug and to fit better into 140 character limit.

From:

Why use shortlinks?