C++知识点 (8）istringstream的用法

isstringstream对象可以绑定一行字符串，然后以空格为分隔符把该行分割开。
添加头文件:#include
工程实例：
比如读取文件：data.txt
L 0 0 1477010443349642 0 0 0 0
R 0 0 0 1477010443349642 0 0 0 0
工程实现：
头文件定义数据类型：

class MeasurementPackage {
public:
  long long timestamp_;

  enum SensorType{
    LASER,
    RADAR
  } sensor_type_;

  Eigen::VectorXd raw_measurements_;
};

class GroundTruthPackage {
public:
  long timestamp_;

  enum SensorType{
    LASER,
    RADAR
  } sensor_type_;

  Eigen::VectorXd gt_values_;

};

    std::string input_file_name = "..data.txt";
    // 打开数据，若失败则输出失败信息，返回-1，并终止程序
    // Open file. if failed return -1 & end program
    std::ifstream input_file(input_file_name.c_str(), std::ifstream::in);
    if (!input_file.is_open()) {
        std::cout << "Failed to open file named : " << input_file_name << std::endl;
        return -1;
    }
    std::vector<MeasurementPackage> measurement_pack_list;
    std::vector<GroundTruthPackage> groundtruth_pack_list;
    std::string line;
    while (getline(input_file, line)) 
    {
        std::string sensor_type;
        MeasurementPackage meas_package;
        GroundTruthPackage gt_package;
        std::istringstream iss(line);
        long long timestamp;

        // 读取当前行的第一个元素，L代表Lidar数据，R代表Radar数据
        // Reads first element from the current line. L stands for Lidar. R stands for Radar.
        iss >> sensor_type;
        if (sensor_type.compare("L") == 0) {
            // 激光雷达数据 Lidar data
            // 该行第二个元素为测量值x，第三个元素为测量值y，第四个元素为时间戳(纳秒）
            // 2nd element is x; 3rd element is y; 4th element is timestamp(nano second)
            meas_package.sensor_type_ = MeasurementPackage::LASER;
            meas_package.raw_measurements_ = Eigen::VectorXd(2);
            float x;
            float y;
            iss >> x;
            iss >> y;
            meas_package.raw_measurements_ << x, y;
            iss >> timestamp;
            meas_package.timestamp_ = timestamp;
            measurement_pack_list.push_back(meas_package);
        } else if (sensor_type.compare("R") == 0) {
            // 毫米波雷达数据 Radar data
            // 该行第二个元素为距离pho，第三个元素为角度phi，第四个元素为径向速度pho_dot，第五个元素为时间戳(纳秒）
            // 2nd element is pho; 3rd element is phi; 4th element is pho_dot; 5th element is timestamp(nano second)
            meas_package.sensor_type_ = MeasurementPackage::RADAR;
            meas_package.raw_measurements_ = Eigen::VectorXd(3);
            float rho;
            float phi;
            float rho_dot;
            iss >> rho;
            iss >> phi;
            iss >> rho_dot;
            meas_package.raw_measurements_ << rho, phi, rho_dot;
            iss >> timestamp;
            meas_package.timestamp_ = timestamp;
            measurement_pack_list.push_back(meas_package);
        }

        // 当前行的最后四个元素分别是x方向上的距离真值，y方向上的距离真值，x方向上的速度真值，y方向上的速度真值
        // read ground truth data to compare later
        float x_gt;
        float y_gt;
        float vx_gt;
        float vy_gt;
        iss >> x_gt;
        iss >> y_gt;
        iss >> vx_gt;
        iss >> vy_gt;
        gt_package.gt_values_ = Eigen::VectorXd(4);
        gt_package.gt_values_ << x_gt, y_gt, vx_gt, vy_gt;
        groundtruth_pack_list.push_back(gt_package);
    }