--- a/python/moving.py	Thu Aug 28 16:42:13 2014 -0400
+++ b/python/moving.py	Thu Aug 28 17:22:38 2014 -0400
@@ -362,7 +362,7 @@
         http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
         '''
     if(p0x == p1x and p0y == p1y):
-        return False,False
+        return None
     try:
         #Approximate slope singularity by giving some slope roundoff; account for roundoff error
         if(round(p0x, 10) == round(p1x, 10)):
@@ -376,10 +376,10 @@
         print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
         print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
         import pdb; pdb.set_trace()  
-    return X,Y
+    return Point(X,Y)
 
-def getSYfromXY(qx, qy, splines, goodEnoughSplineDistance = 0.5):
-    ''' Snap a point (coordinates qx, qy) to it's nearest subsegment of it's nearest spline (from the list splines).
+def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5):
+    ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines).
         
         To force snapping to a single spline, pass the spline alone through splines (e.g. splines=[splines[splineNum]]).
         
@@ -393,42 +393,39 @@
         spline distance,
         orthogonal point offset]
     '''
-    
-    #(buckle in, it gets ugly from here on out)
-    ss_spline_d = subsec_spline_dist(splines)
-    
     minOffsetY = float('inf')
     #For each spline
     for spline in range(len(splines)):
-        #For each spline point
+        #For each spline point index
         for spline_p in range(len(splines[spline])-1):
             #Get closest point on spline
-            X,Y = ppldb2p(qx,qy,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1])
-            if X == False and Y == False:
+            closestPoint = ppldb2p(p.x,p.y,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1])
+            if closestPoint == None:
                 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p))
                 return None
-            if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], X) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], Y): 
-                offsetY = utils.pointDistanceL2(qx,qy,X,Y)
+            if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], p.x) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], p.y): 
+                offsetY = Point.distanceNorm2(closestPoint, p)#utils.pointDistanceL2(p.x,p.y,X,Y)
                 if offsetY < minOffsetY:
                     minOffsetY = offsetY
                     snappedSpline = spline
                     snappedSplineLeadingPoint = spline_p
-                    snapped_x = X
-                    snapped_y = Y
+                    snappedPoint = Point(closestPoint.x, closestPoint.y)
                 #Jump loop if significantly close
                 if offsetY < goodEnoughSplineDistance: 
                     break
     #Get sub-segment distance
     if minOffsetY != float('inf'):
-        subsegmentDistance = utils.pointDistanceL2(splines[snappedSpline][snappedSplineLeadingPoint][0],splines[snappedSpline][snappedSplineLeadingPoint][1],snapped_x,snapped_y)
-        #Get total segment distance
-        splineDistanceS = ss_spline_d[snappedSpline][1][snappedSplineLeadingPoint] + subsegmentDistance
-        orthogonalSplineVector = Point(splines[snappedSpline][snappedSplineLeadingPoint+1][1]-splines[snappedSpline][snappedSplineLeadingPoint][1],
-                                       splines[snappedSpline][snappedSplineLeadingPoint][0]-splines[snappedSpline][snappedSplineLeadingPoint+1][0])#positive orthogonal vector of vector (x,y) is (y, -x)
-        offsetVector = Point(qx-snapped_x, qy-snapped_y)
+        subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSpline][snappedSplineLeadingPoint])
+        #subsegmentDistance = utils.pointDistanceL2(splines[snappedSpline][snappedSplineLeadingPoint][0],splines[snappedSpline][snappedSplineLeadingPoint][1],snapped_x,snapped_y)
+        #Get cumulative alignment distance (total segment distance)
+        splineDistanceS = splines[snappedSpline].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance
+        orthogonalSplineVector = (splines[snappedSpline][snappedSplineLeadingPoint+1]-splines[snappedSpline][snappedSplineLeadingPoint]).orthogonal()
+#Point(splines[snappedSpline][snappedSplineLeadingPoint+1][1]-splines[snappedSpline][snappedSplineLeadingPoint][1],
+#                                       splines[snappedSpline][snappedSplineLeadingPoint][0]-splines[snappedSpline][snappedSplineLeadingPoint+1][0])#positive orthogonal vector of vector (x,y) is (y, -x)
+        offsetVector = p-snappedPoint#Point(qx-snapped_x, qy-snapped_y)
         if Point.dot(orthogonalSplineVector, offsetVector) < 0:
             minOffsetY = -minOffsetY
-        return [snappedSpline, snappedSplineLeadingPoint, snapped_x, snapped_y, subsegmentDistance, splineDistanceS, minOffsetY]
+        return [snappedSpline, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY]
     else:
         return None
 
@@ -743,18 +740,18 @@
         from numpy import hypot
         return hypot(self.positions[0], self.positions[1])
 
-    def cumulatedDisplacement(self):
-        'Returns the sum of the distances between each successive point'
-        displacement = 0
-        for i in xrange(self.length()-1):
-            displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
-        return displacement
+    # def cumulatedDisplacement(self):
+    #     'Returns the sum of the distances between each successive point'
+    #     displacement = 0
+    #     for i in xrange(self.length()-1):
+    #         displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
+    #     return displacement
 
     def computeCumulativeDistances(self):
         '''Computes the distance from each point to the next and the cumulative distance up to the point
         Can be accessed through getDistance(idx) and getCumulativeDistance(idx)'''
         self.distances = []
-        self.cumulativeDistances = []
+        self.cumulativeDistances = [0.]
         p1 = self[0]
         cumulativeDistance = 0.
         for i in xrange(self.length()-1):
@@ -772,11 +769,11 @@
             print('Index {} beyond trajectory length {}-1'.format(i, self.length()))
 
     def getCumulativeDistance(self, i):
-        '''Return the cumulative distance between the beginning and point i+1'''
-        if i < self.length()-1:
+        '''Return the cumulative distance between the beginning and point i'''
+        if i < self.length():
             return self.cumulativeDistances[i]
         else:
-            print('Index {} beyond trajectory length {}-1'.format(i, self.length()))
+            print('Index {} beyond trajectory length {}'.format(i, self.length()))
 
     def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
         '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity)