Ive never been able to get my daughter to sleep anywhere other than in bed with me, in a sling or sometimes in her swing seat (with dummy and a lot of white noise playing). So she has slept in bed with me since the beginning. We tried having a cotbed of the height pushed up against our bed so it's like part of the same bed, but she won't have it. I have to have her in the crook of my arm or she won't sleep, which is an improvement as previously she would only sleep on my chest.
I breast feed her and until a couple of weeks ago sleep was quite good as I could tell when she was waking up and just shove my boob in her mouth so she didn't. I still do, but now after feeding her around 4:30ish she doesn't wake but starts thrashing around in her sleep. Arms, legs, head and body all move and she grunts. She doesn't seem to be in pain but appears she might be uncomfortable. I then try changing her position (on to her side, on to her back, so her head rests on my arm etc) but it only stops for a minute or so.
Does anyone have any advice or experience on this? Looking around the Internet it seems it may be normal and to do with developmental changes, if so does anyone have any advice on how to move her to her cotbed or Moses basket? 
The other thing is that where she used to have
long two or three hour naps in a sling each day she now fights and screams, arches her back and goes all stiff until I have to take her out. I've no idea what's changed.
She also thrashes about during the day when she gets tired, flapping her arms and legs manically with her eyes all wide.
Is any of this normal?