Merge branch 'Development' of https://github.com/SaitaoGit/Bachelorarbeit-Cozmo into Development

Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs

@@ -145,7 +145,7 @@ namespace Cozmo
         // Convert OpenCVSharp Mat object to Unity Texture2D object
         private void MatToTexture(Mat mat)
         {
-            // cannyImageData is byte array, because canny image is grayscale
+            // cannyImageData is byte array, because canny image is binary
             mat.GetArray(0, 0, cannyImageData);
             // create Color32 array that can be assigned to Texture2D directly
             Color32[] c = new Color32[croppedImHeight * imWidth];

Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -177,7 +177,7 @@ namespace Cozmo
             {
                 float range = centerOfImageX - nearAreaLimit;
                 reward = -(1 - (centerOfGravityX / range));
-                // Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
+                // Clamp the reward to max -1 and divide it by 2
                 reward = Mathf.Clamp(reward, -1, 0) / 2;
             }
             // Center of gravity is near left of the center