As others have said -- the local law is what mattered. Here in South Texas, a fire chief was riding his bike on the sidewalk along a 60 mph highway. He crossed into an intersection (with a crosswalk) when he had the green walking man signal. A car off of the highway made a right turn into the intersection and hit him. The person determined to be at fault -- the driver -- even though they both technically had a green light. The driver was supposed to yield to the bike. (The fire chief was injured, but not killed).
Also, in pretty much every jurisdiction in the United States, who hits who doesn't necessarily indicate who is at fault (although it can play a role). "Right-of-way" is extremely important. I recently worked on a matter where a lady hit another vehicle on the passenger side, but since the other vehicle was turning left across the lady's lane, it was determined to be at fault (even though technically, the lady hit the other vehicle).
In some jurisdictions, how bicyclists are treated, and how they can act, will determine whether they are afforded the pedestrian right-of-way. In Texas, unless local city ordinances prohibit it, bicycles can ride on sidewalks and through crosswalks. They can either act like cars or act like pedestrians.
As for whether you should contact a lawyer... unless you're just somebody who can't let go, I don't see the purpose. That's just me talking, not my legal training (I am not giving legal advice). But if you're not hurt, what's the point? To feel vindicated? To make the woman suffer? What she did was really sh**y, but it's over now and you're not hurt. If she has any conscience at all, she probably feels like crap and is riddled with guilt and worry anyway.
