C++: Erase specified elements from a STL vector?

Question

Given a std::vector, I want to delete all elements which match a condition. I cannot see any simple way to do this, as I cannot specify a single value for the elements to be deleted.

Here is a simple example illustrating the problem. I want to delete elements from v that have their member k equal to a given value.

int kDelete = 123; // elements to be deleted
struct S
{
  int k;
  int data;
};
vector<S> v;
for(auto& s:v)
{
  if(s.k == k)
    v.erase(???); // what is the correct arg for erase?
}

Prior answers are contradictory with respect to whether erase invalidates implicit iterator, and whether the range limits are recalculated at each iteration. Also, they are several years old.