ubuntu下文件读写

原创 于 2017-11-03 08:09:37 发布 · 1.7k 阅读 · 0 ·
CC 4.0 BY-SA版权
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。

本文详细介绍了在Ubuntu操作系统中如何进行文件的读写操作，包括基本的文件创建、读取、修改和删除等步骤，适合Linux初学者参考。

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#include<stdio.h>
#include<math.h>
#include <exception>
#include <iostream>
#include <vector>
#include <fstream>
#include<sstream>
#include <stdlib.h>


#include <Eigen/Core>
#include <Eigen/Dense>
#include<Eigen/Eigen>
#include<Eigen/Geometry>
#include<math.h>


#include <exception>

#include <iostream>
#include <vector>
#include <fstream>
#include <boost/concept_check.hpp>


using namespace Eigen;

using namespace std;
 int main()
 {
   
       /* string imu_file,end_file;
        imu_file="/home/xs/SimlateIMU/indoor/end_3939.txt";
        end_file="/home/xs/SimlateIMU/indoor/end.txt";
       ifstream imuptr(imu_file.c_str());//读取imu
       ofstream sampleptr(end_file);
       string imuStr;
  	int countLine=0;
	int tag=0;
  	std::string   tempValue[7];
  	for(int i=0;i<7;i++)
  	   tempValue[i]="";
	while(getline(imuptr,imuStr))//以空格区分
	{         countLine++;
	       if(countLine%12==0)
		  continue;
//  	    if(tag==0)
//  	    {
//  	        if(countLine%3==0)
//  		{
//  		   tag=1;  
//  		  continue;
//  		}
//  	    }
//  	    else
//  	    {
//  	        if(countLine%4==0)
//  		{
//  		  tag=0;
// 		  countLine;
//  		}
//  	    }
	    std::stringstream   linestream(imuStr);
            std::string  value;
            int valueNum=0;
	    while(getline(linestream,value,','))
 	    {
 	           if(valueNum>=0&&valueNum<7)         
 		   tempValue[valueNum]=value.c_str();
 		   
 		 ++valueNum;
            }
	  sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<","<<tempValue[4]<<","<<tempValue[5]<<","<<tempValue[6]<<endl;
	  //countLine++;
	}
          sampleptr.close();
  	  imuptr.close();
  	//  timeptr.close();
          return 0;*/
	
	
	  
        //添加新的时间戳
        string time_file, imu_file,end_file;
        time_file="/home/xs/SimlateIMU/indoor/imunew.csv";
        imu_file="/home/xs/SimlateIMU/indoor/end_3593.txt";
        end_file="/home/xs/SimlateIMU/indoor/end.txt";
         ifstream timeptr(time_file.c_str());//读取时间
          ifstream imuptr(imu_file.c_str());//读取imu
          ofstream sampleptr(end_file);
          // sampleptr<<"% timestamp(sec), $a_{is}^s$(m/s^2), $\Omega_{is}^s$(rad/sec), $v_{ws}^w$(m/s), $gravity^e$."<<endl;
  	string imuStr,timeStr;
  	int countLine=0;
  	std::string   tempValue[7];
  	for(int i=0;i<7;i++)
  	  tempValue[i]="";
  	 while(getline(imuptr,imuStr)&&getline(timeptr,timeStr))
          {
              //std::stringstream   linestream(imuStr);
  	      stringstream linestream(imuStr),timestream(timeStr);
              std::string        value,tempTime;
              int valueNum=0;
              while(getline(linestream,value,',')&&getline(timestream,tempTime,','))
              {
  	        if(0==valueNum)
  		{
		     //  timeptr>>tempTime;
 		     tempValue[valueNum]=tempTime.c_str();
		     // tempValue[valueNum]=timeStr[0];
 //  		    if(==0)//从文件读时间戳
 //  		    {
 //  		          timeptr>>tempTime;
 //  			   cerr<< "read:value+"<<tempTime<<"+"<<endl;;
 //  			  tempValue[valueNum]=tempTime;
 //  		    }
 //  		    else
 //  		    {
 //  		         tempValue[valueNum]=value.c_str();
 //  		    }
  		}
  		else if(valueNum<7&&valueNum>0)
  		{
  		   tempValue[valueNum]=value.c_str();
  		}
  	         ++valueNum;
              }
              // countLine++;
  	     //在这里开始生成结合后的文件
  	      sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<","<<tempValue[4]<<","<<tempValue[5]<<","<<tempValue[6]<<endl;
          }
          sampleptr.close();
  	imuptr.close();
  	timeptr.close();
   
   
   /*
   //imu文件与原始时间戳的匹配，保持差距一致
      string time_file, imu_file,end_file;
       time_file="/home/xs/SimlateIMU/indoor/time.txt";
       imu_file="/home/xs/SimlateIMU/indoor/noise.txt";
       end_file="/home/xs/SimlateIMU/indoor/end.txt";
         ifstream timeptr(time_file.c_str());//读取时间
         ifstream imuptr(imu_file.c_str());//读取imu
         ofstream sampleptr(end_file);
        sampleptr<<"% timestamp(sec), $a_{is}^s$(m/s^2), $\Omega_{is}^s$(rad/sec), $v_{ws}^w$(m/s), $gravity^e$."<<endl;
 	string imuStr;
 	int countLine=0;
 	std::string   tempValue[7];
 	for(int i=0;i<7;i++)
 	  tempValue[i]="";
 	 int valueNum=0;
 	 int lasttime=0;
 	 int nowtime=0;
 	 int i;
 	
        std::string   value,tempTime;
 	while(!timeptr.eof())
 	{
 	         timeptr>>tempTime;
 		 nowtime=atoi(tempTime.c_str());
 		 nowtime/=10;
 		 if(nowtime!=lasttime)
 		 {
 		        getline(imuptr,imuStr);
 			stringstream linestream(imuStr);
 			valueNum=0;
 			while(getline(linestream,value,' '))
 			{
 			      if(0<=valueNum&&valueNum<7)
 			      {
 				  tempValue[valueNum]=value.c_str();
 			      }
 			      ++valueNum;
 		        }
 		         lasttime=nowtime;
 			//在这里开始生成结合后的文件
 	               sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<","<<tempValue[4]<<","<<tempValue[5]<<","<<tempValue[6]<<endl;
 		       getline(imuptr,imuStr);
		       getline(imuptr,imuStr);
		       getline(imuptr,imuStr);
 		}
 		else
 		{
 		  getline(imuptr,imuStr);getline(imuptr,imuStr);getline(imuptr,imuStr);getline(imuptr,imuStr);
 		}
 	}
 	    sampleptr.close();
 	    imuptr.close();
 	    timeptr.close();
 	   return 0;*/
   
   
   
      //去掉最左边的逗号
     /*  string imu_file,end_file;
       
        imu_file="/home/xs/SimlateIMU/indoor/samples.txt";
        end_file="/home/xs/SimlateIMU/indoor/imuRight.txt";
        ifstream imuptr(imu_file.c_str());//读取imu
       ofstream sampleptr(end_file);
         // sampleptr<<"% timestamp(sec), $a_{is}^s$(m/s^2), $\Omega_{is}^s$(rad/sec), $v_{ws}^w$(m/s), $gravity^e$."<<endl;
  	string imuStr;
  	int countLine=0;
  	std::string   tempValue[13];
  	for(int i=0;i<13;i++)
  	  tempValue[i]="";
  	 while(getline(imuptr,imuStr))
          {
              //std::stringstream   linestream(imuStr);
  	    stringstream linestream(imuStr);
              std::string        value;
              int valueNum=0;
              while(getline(linestream,value,','))
              {
  	        if(0<valueNum&&valueNum<14)
  		{
 		     tempValue[valueNum-1]=value.c_str();
 //  		    if(==0)//从文件读时间戳
 //  		    {
 //  		          timeptr>>tempTime;
 //  			   cerr<< "read:value+"<<tempTime<<"+"<<endl;;
 //  			  tempValue[valueNum]=tempTime;
 //  		    }
 //  		    else
 //  		    {
 //  		         tempValue[valueNum]=value.c_str();
 //  		    }
  		}
  	         ++valueNum;
              }
              // countLine++;
  	     //在这里开始生成结合后的文件
  	      sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<","<<tempValue[4]<<","<<tempValue[5]<<","<<tempValue[6]<<","<<tempValue[7]<<","<<tempValue[8]<<","<<tempValue[9]<<","<<tempValue[10]<<","<<tempValue[11]<<","<<tempValue[12]<<endl;
          }
          sampleptr.close();
  	imuptr.close();
  	//timeptr.close();
         return 0;*/
     
     
/*
        string imu_file,end_file;
        imu_file="/home/xs/SimlateIMU/tim.txt";
       // end_file="/home/xs/SimlateIMU/tim.txt";
        ifstream imuptr(imu_file.c_str());//
       ofstream sampleptr(end_file);
         //sampleptr<<"% timestamp(sec), $a_{is}^s$(m/s^2), $\Omega_{is}^s$(rad/sec), $v_{ws}^w$(m/s), $gravity^e$."<<endl;
  	string imuStr;
  	int countLine=0;
  	std::string   tempValue[4];
        for(int i=0;i<4;i++)
	   tempValue[i]="";
	double  ex=0.0,ey=0.0,ez=0.0,ew=0.0;
  	 while(getline(imuptr,imuStr))
          {
              //std::stringstream   linestream(imuStr);
  	    stringstream linestream(imuStr);
              std::string        value;
              int valueNum=0;
              while(getline(linestream,value,','))
              {
  	        if(valueNum==0)
  		{
		     ew=atof(value.c_str());
 		   // tempValue[valueNum-4]=value.c_str();
               	}
               	else if(valueNum==1)
		{
		      ex=atof(value.c_str());
		}
		else if(valueNum==2)
		{
		  ey=atof(value.c_str());
		}
		else if(valueNum==3)
		{
		  ez=atof(value.c_str());;
		  Eigen::Quaterniond q;  
                  q.x() = ex;  
		  q.y() =ey;  
                  q.z() = ez;  
                  q.w() = ew;  
  
                  Eigen::Vector3d euler = q.toRotationMatrix().eulerAngles(2, 1, 0);  
//                   ex=euler[2];
//                   ey=euler[1];
//                   ez=euler[0];
                  cout << "Quaterniond2Euler result is:" <<endl;  
                  cout << "x = "<< euler[2] << endl ;  
                 cout << "y = "<< euler[1] << endl ;  
                 cout << "z = "<< euler[0] << endl << endl;  
		//  sampleptr<<euler[2]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<endl;
		}
  	         ++valueNum;
              }
               countLine++;
  	     //在这里开始生成结合后的文件
  	     // sampleptr<<tempValue<<endl;
  	     sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<endl;
          }
          sampleptr.close();
  	imuptr.close();
  	//timeptr.close();
         return 0;
	 
	 */
	
	   /*    string imu_file,end_file;
       
        imu_file="/home/xs/SimlateIMU/nb/samples.txt";
        end_file="/home/xs/SimlateIMU/nb/imuRight.txt";
        ifstream imuptr(imu_file.c_str());//读取imu
       ofstream sampleptr(end_file);
         // sampleptr<<"% timestamp(sec), $a_{is}^s$(m/s^2), $\Omega_{is}^s$(rad/sec), $v_{ws}^w$(m/s), $gravity^e$."<<endl;
  	string imuStr;
  	int countLine=0;
  	std::string   tempValue[13];
  	for(int i=0;i<13;i++)
  	  tempValue[i]="";
  	 while(getline(imuptr,imuStr))
          {
              //std::stringstream   linestream(imuStr);
  	    stringstream linestream(imuStr);
              std::string        value;
              int valueNum=0;
              while(getline(linestream,value,','))
              {
  	        if(0<valueNum)
  		{
 		     tempValue[valueNum-1]=value.c_str();
 //  		    if(==0)//从文件读时间戳
 //  		    {
 //  		          timeptr>>tempTime;
 //  			   cerr<< "read:value+"<<tempTime<<"+"<<endl;;
 //  			  tempValue[valueNum]=tempTime;
 //  		    }
 //  		    else
 //  		    {
 //  		         tempValue[valueNum]=value.c_str();
 //  		    }
  		}
  	         ++valueNum;
              }
              // countLine++;
  	     //在这里开始生成结合后的文件
  	      sampleptr<<tempValue[0]<<","<<tempValue[1]<<","<<tempValue[2]<<","<<tempValue[3]<<","<<tempValue[4]<<","<<tempValue[5]<<","<<tempValue[6]<<","<<tempValue[7]<<","<<tempValue[8]<<","<<tempValue[9]<<","<<tempValue[10]<<","<<tempValue[11]<<","<<tempValue[12]<<endl;
          }
          sampleptr.close();
  	imuptr.close();
  	//timeptr.close();
         return 0;*/

}



cmakelisttxt：


SET (PROJECT_NAME change)

PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
set(CMAKE_BUILD_TYPE  "Debug")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
    "${PROJECT_SOURCE_DIR}/cmake_modules/")

find_package(Eigen3 REQUIRED)

include_directories(
${EIGEN3_INCLUDE_DIR}

#${Geographic_INCLUDE_DIR}/usr/local/include/GeographicLib
)

ADD_EXECUTABLE(${PROJECT_NAME} change.cpp)
TARGET_LINK_LIBRARIES (${PROJECT_NAME} ${LINK_LIBS})


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