Trailing whitespace fixes
Overhaul of TP functions to reduce nesting
Renamed function to match naming convention
Merge branch 'feature/blend-refactor2' into circular-blend-arc-alpha
Cleanup and reorganization in a few spots

* Removed split_time field (use cycle_time field instead with no conflicts)
* Reordered fields in tpInitializeNewSegment in logical groups
* Removed old code and comments
Removed nomimal length
Refactoring in CheckEndCondition
Misc comments and minor reordering for aesthetics
Experimental fix for last segment exact stop (doesn't work)
Removed displacement and final_actual_vel as redundant
Merge branch 'feature/refactor-misc' into circular-blend-arc-alpha