分割字符串函数

/**
 * @brief    分割输入字符串函数
 * @note     用于将输入的字符串类型机械臂位姿转换为double类型
 * @param    str         输入字符串
 * @param    splits      分割符
 * @param    pose        输出
 * @return
 */
void poseStrSplit(const std::string& str, const std::string& splits, std::vector<double>& pose)
{
    std::vector<std::string> res{};
    if (str == "")
        return;

    std::string strs = str + splits;
    size_t pos = strs.find(splits);
    int step = splits.size();

    while (pos != strs.npos) {
        std::string temp = strs.substr(0, pos);
        res.push_back(temp);
        strs = strs.substr(pos + step, strs.size());
        pos = strs.find(splits);
    }

    for (auto s : res) {
        double c = atof(s.c_str());
        pose.push_back(c);
    }

    pose.pop_back();
}

int main()
{ 
    // test
    std::string pose = "0.5,-0.1,0.3,-3.13,0,1.57,";
    std::vector<double> res{};
    poseStrSplit(pose, ",", res);

    for (int i = 0; i < res.size(); i++) {
        std::cout << res[i] << std::endl;
    }
}