Change how different sensor types ar handled

vehicle/scripts/vehicle_node.gd

@@ -16,6 +16,7 @@ var host_id: String = ''
 var sensor_nodes = {}
 var sensor_classes = {
 	"VEHICLE": [],
+	"LIDAR_2D": [],
 }
 
 var timer: float = 0.
@@ -37,6 +38,10 @@ var pitch_rad: float:
 	get:
 		return _get_pitch_rad()
 
+var lateral_accel: Vector2:
+	get:
+		return _get_lateral_accel()
+
 var heading_rad: float:
 	get:
 		return _get_heading_rad()
@@ -124,6 +129,19 @@ func _get_pitch_rad():
 		return 0
 	return pitch_sum / pitch_count
 
+func _get_lateral_accel():
+	var gs_sum: Vector2 = Vector2.ZERO
+	var gs_count: int = 0
+	for sensor_ip in sensor_classes["VEHICLE"]:
+		var sensor_gs = sensor_nodes[sensor_ip].lateral_accel
+		if sensor_gs == null:
+			continue
+		gs_sum += sensor_gs
+		gs_count += 1
+	if gs_count == 0:
+		return Vector2.ZERO
+	return gs_sum / gs_count
+
 func _get_heading_rad():
 	var heading_sum: float = 0
 	var heading_count: int = 0