Lateral Velocity

A bot's velocity in a direction perpendicular to the reference bot. For a bot moving perpendicular, abs(velocity) would equal abs(lateral velocity), while for a bot moving directly toward or away from a reference bot, lateral velocity would be zero.

An example of calculating an enemy's lateral velocity would be:

public void onScannedRobot(ScannedRobotEvent e) {
    double enemyAbsoluteBearing = e.getBearingRadians() + getHeadingRadians();
    double enemyLatVel = e.getVelocity()*Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing);
}

In this example, a bot moving clockwise has a positive lateral velocity, while a bot moving counter-clockwise has a negative lateral velocity.

See Also

• Linear Targeting
• Advancing Velocity