#include "sensor_calibration_service/sensor_calibration_common.hpp"

namespace sensor_calibration_service
{

bool EyeInHandCalibrationAlgorithm::run(
  const SensorCalibrationInput & input,
  SensorCalibrationOutput & output,
  std::string & failure_reason) const
{
  (void)failure_reason;

  // 眼在手内标定模板：相机/传感器安装在机械臂末端执行器上。
  fill_common_result(input, output);
  output.response.result.message = "eye-in-hand calibration template executed.";
  output.response.result.recommended_parameter_version = "eye_in_hand_template_v1";
  return true;
}

bool EyeToHandCalibrationAlgorithm::run(
  const SensorCalibrationInput & input,
  SensorCalibrationOutput & output,
  std::string & failure_reason) const
{
  (void)failure_reason;

  // 眼在手外标定模板：相机/传感器固定在工作站环境中观测机械臂。
  fill_common_result(input, output);
  output.response.result.message = "eye-to-hand calibration template executed.";
  output.response.result.recommended_parameter_version = "eye_to_hand_template_v1";
  return true;
}

}  // namespace sensor_calibration_service
