Introduce ScenarI/O abstract classes #219
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This was referenced Aug 16, 2020
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This PR introduces real abstract classes implementing the ScenarI/O APIs. These new classes are basically a generalized version of the Ignition Gazebo backend (#158), where only the methods that could be compatible with other future backends (e.g. YARP, ROS, etc) have been kept.
This abstraction should help writing generic code that works with any backend. The concrete class initialization and the calls to custom methods not part of the interface should be kept isolated from the generic code (e.g. the classes implementing
gym_ignition.task.Taskin Python), and should be put in other components like the task randomizer (#177).📝 The interfaces are finally documented. There are few classes still without documentation, however the major ones are there.
❗ this is part of a multi-PR feature and tests will not pass yet. Have a look at #220 for the bigger picture.