I'm trying to learn boost::spirit. As an example, I'm trying to parse a sequence of words into a vector<string>. I tried this: 
#include <boost/spirit/include/qi.hpp>
#include <boost/foreach.hpp>
namespace qi = boost::spirit::qi;
int main() {
  std::vector<std::string> words;
  std::string input = "this is a test";
  bool result = qi::phrase_parse(
      input.begin(), input.end(),
      +(+qi::char_),
      qi::space,
      words);
  BOOST_FOREACH(std::string str, words) {
    std::cout << "'" << str << "'" << std::endl;
  }
}
which gives me this output:
'thisisatest'
but I wanted the following output, where each word is matched separately:
'this'
'is'
'a'
'test'
If possible, I'd like to avoid having to define my own qi::grammar subclass for this simple case.
You're fundamentally misunderstanding the purpose of (or at least misusing) a skip parser – qi::space, used as a skip parser, is for making your parser whitespace agnostic such that there is no difference between a b and ab.
In your case, the whitespace is important, as you want it to delimit words. Consequently, you shouldn't be skipping whitespace, and you want to use qi::parse rather than qi::phrase_parse:
#include <vector>
#include <string>
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/spirit/include/qi.hpp>
int main()
{
    namespace qi = boost::spirit::qi;
    std::string const input = "this is a test";
    std::vector<std::string> words;
    bool const result = qi::parse(
        input.begin(), input.end(),
        +qi::alnum % +qi::space,
        words
    );
    BOOST_FOREACH(std::string const& str, words)
    {
        std::cout << '\'' << str << "'\n";
    }
}
(Now updated with G. Civardi's fix.)
I believe this is the minimal version. qi::omit applied on the qi list parser separator is not necessary - it does not generate any output attribute(s). For details see: http://www.boost.org/doc/libs/1_48_0/libs/spirit/doc/html/spirit/qi/reference/operator/list.html
#include <string>
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/spirit/include/qi.hpp>
int main()
{
  namespace qi = boost::spirit::qi;
  std::string const input = "this is a test";
  std::vector<std::string> words;
  bool const result = qi::parse(
      input.begin(), input.end(),
      +qi::alnum % +qi::space,
      words
  );
  BOOST_FOREACH(std::string const& str, words)
  {
      std::cout << '\'' << str << "'\n";
  }
}
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