--- a/python/storage.py	Fri Mar 10 15:31:26 2017 -0500
+++ b/python/storage.py	Tue Mar 14 14:22:14 2017 -0400
@@ -52,6 +52,13 @@
     else:
         print('Unallowed name {} for trajectory table'.format(tableName))
 
+def createObjectsTable(cursor):
+    cursor.execute("CREATE TABLE IF NOT EXISTS objects (object_id INTEGER, road_user_type INTEGER, n_objects INTEGER, PRIMARY KEY(object_id))")
+
+def createObjectsFeaturesTable(cursor):
+    cursor.execute("CREATE TABLE IF NOT EXISTS objects_features (object_id INTEGER, trajectory_id INTEGER, PRIMARY KEY(trajectory_id))")
+
+
 def createCurvilinearTrajectoryTable(cursor):
     cursor.execute("CREATE TABLE IF NOT EXISTS curvilinear_positions (trajectory_id INTEGER, frame_number INTEGER, s_coordinate REAL, y_coordinate REAL, lane TEXT, PRIMARY KEY(trajectory_id, frame_number))")
 
@@ -67,6 +74,12 @@
 def insertTrajectoryQuery(tableName):
     return "INSERT INTO "+tableName+" (trajectory_id, frame_number, x_coordinate, y_coordinate) VALUES (?,?,?,?)"
 
+def insertObjectQuery():
+    return "INSERT INTO objects (object_id, road_user_type, n_objects) VALUES (?,?,?)"
+
+def insertObjectFeatureQuery():
+    return "INSERT INTO objects_features (object_id, trajectory_id) VALUES (?,?)"
+
 def createIndex(connection, tableName, columnName, unique = False):
     '''Creates an index for the column in the table
     I will make querying with a condition on this column faster'''
@@ -313,41 +326,71 @@
     if len(missingObjectNumbers) > 0:
         print('List of missing objects to attach corresponding curvilinear trajectories: {}'.format(missingObjectNumbers))
 
+
 def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType, withFeatures = False):
     '''Writes features, ie the trajectory positions (and velocities if exist)
     with their instants to a specified sqlite file
     Either feature positions (and velocities if they exist)
-    or curvilinear positions will be saved at a time
+    or curvilinear positions will be saved at a time'''
 
-    TODO: Not implemented for trajectoryType MovingObject with features
-    For objects, with features will control whether the features
-    corresponding to the object are also saved'''
-
+    ## Sanitation
+    if(type(objects) is not list or len(objects)==0): return False
     connection = sqlite3.connect(outputFilename)
     try:
         cursor = connection.cursor()
-
-        if trajectoryType == 'feature':
+        ## Extract features from objects
+        if(trajectoryType == 'object'):
+            features = []
+            for obj in objects:
+                if(obj.hasFeatures()):
+                    features += obj.getFeatures()
+        elif(trajectoryType == 'feature'):
+            features = objects
+        ## Setup feature queries
+        if(trajectoryType == 'feature' or trajectoryType == 'object'):
             createTrajectoryTable(cursor, "positions")
             createTrajectoryTable(cursor, "velocities")
-
             positionQuery = insertTrajectoryQuery("positions")
             velocityQuery = insertTrajectoryQuery("velocities")
-            for obj in objects:
-                num = obj.getNum()
-                frame_number = obj.getFirstInstant()
-                for position in obj.getPositions():
-                    cursor.execute(positionQuery, (num, frame_number, position.x, position.y))
-                    frame_number += 1
-                # velocities
-                velocities = obj.getVelocities()
-                if velocities is not None:
-                    frame_number = obj.getFirstInstant()
-                    for i in xrange(velocities.length()-1):
-                        v = velocities[i]
-                        cursor.execute(velocityQuery, (num, frame_number, v.x, v.y))
+        ## Setup object queries
+        if(trajectoryType == 'object'):    
+            createObjectsTable(cursor)
+            createObjectsFeaturesTable(cursor)
+            objectQuery        = insertObjectQuery()
+            objectFeatureQuery = insertObjectFeatureQuery()
+        ## Parse feature and/or object structure and commit to DB
+        if(trajectoryType == 'feature' or trajectoryType == 'object'):
+            running_tally_of_unique_nums = []
+            for feature in features:
+                num = feature.getNum()
+                if(num not in running_tally_of_unique_nums):
+                    running_tally_of_unique_nums.append(num)
+                    frame_number = feature.getFirstInstant()
+                    for position in feature.getPositions():
+                        cursor.execute(positionQuery, (num, frame_number, position.x, position.y))
                         frame_number += 1
-        elif trajectoryType == 'curvilinear':
+                    velocities = feature.getVelocities()
+                    if velocities is not None:
+                        frame_number = feature.getFirstInstant()
+                        for i in xrange(velocities.length()-1):
+                            v = velocities[i]
+                            cursor.execute(velocityQuery, (num, frame_number, v.x, v.y))
+                            frame_number += 1    
+            if(trajectoryType == 'object'):
+                running_tally_of_unique_nums = []
+                for obj in objects:
+                    if(obj.hasFeatures()):
+                        n_objects = len(obj.getFeatures())
+                        for feature in obj.getFeatures():
+                            feature_num = feature.getNum()
+                            if(feature_num not in running_tally_of_unique_nums):
+                                running_tally_of_unique_nums.append(feature_num)
+                                cursor.execute(objectFeatureQuery, (obj.getNum(), feature_num))
+                    else:
+                        n_objects = 0
+                    cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), n_objects))   
+        ## Parse curvilinear position structure
+        elif(trajectoryType == 'curvilinear'):
             createCurvilinearTrajectoryTable(cursor)
             curvilinearQuery = "insert into curvilinear_positions (trajectory_id, frame_number, s_coordinate, y_coordinate, lane) values (?,?,?,?,?)"
             for obj in objects:
@@ -356,7 +399,6 @@
                 for position in obj.getCurvilinearPositions():
                     cursor.execute(curvilinearQuery, (num, frame_number, position[0], position[1], position[2]))
                     frame_number += 1
-        #elif trajectoryType == 'object':
         else:
             print('Unknown trajectory type {}'.format(trajectoryType))
         connection.commit()