Lateral Velocity

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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.