diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd8db9a80..26e0c0c5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,12 +83,6 @@ if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
     message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
 endif()
 
-# Add the Quaternion Build Flag if requested
-if (GTSAM_USE_QUATERNIONS)
-  set(CMAKE_C_FLAGS            "${CMAKE_C_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
-  set(CMAKE_CXX_FLAGS          "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
-endif(GTSAM_USE_QUATERNIONS)
-
 # Flags to determine whether tests and examples are build during 'make install'
 # Note that these remove the targets from the 'all'
 option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
@@ -141,6 +135,7 @@ include_directories(
   gtsam/3rdparty/UFconfig 
   gtsam/3rdparty/CCOLAMD/Include
   ${CMAKE_SOURCE_DIR}
+  ${CMAKE_BINARY_DIR} # So we can include generated config header files
   CppUnitLite
   ${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 8ee371fe8..f152de329 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -2,16 +2,39 @@
 install(FILES CCOLAMD/Include/ccolamd.h DESTINATION include/gtsam/3rdparty/CCOLAMD)
 install(FILES UFconfig/UFconfig.h DESTINATION include/gtsam/3rdparty/UFconfig)
 
-# install Eigen - only the headers
-install(DIRECTORY Eigen/Eigen 
-    DESTINATION include/gtsam/3rdparty/Eigen
-    FILES_MATCHING PATTERN "*.h")
-file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
+# Option for using system Eigen or GTSAM-bundled Eigen
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
 
-# ensure that Eigen folders without extensions get added
-foreach(eigen_dir ${eigen_dir_headers_all})
-    get_filename_component(filename ${eigen_dir} NAME)
-    if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
-        install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)     
-    endif()
-endforeach(eigen_dir)
+# Switch for using system Eigen or GTSAM-bundled Eigen
+if(GTSAM_USE_SYSTEM_EIGEN)
+	# Use generic Eigen include paths e.g. <Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "")
+	
+	find_package(Eigen3 REQUIRED)
+	include_directories(EIGEN3_INCLUDE_DIR)
+else()
+	# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
+	
+	# Clear any variables set by FindEigen3
+	if(EIGEN3_INCLUDE_DIR)
+		set(EIGEN3_INCLUDE_DIR NOTFOUND)
+	endif()
+
+	# install Eigen - only the headers in our 3rdparty directory
+	install(DIRECTORY Eigen/Eigen 
+		DESTINATION include/gtsam/3rdparty/Eigen
+		FILES_MATCHING PATTERN "*.h")
+	file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
+
+	# ensure that Eigen folders without extensions get added
+	foreach(eigen_dir ${eigen_dir_headers_all})
+		get_filename_component(filename ${eigen_dir} NAME)
+		if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
+			install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)     
+		endif()
+	endforeach(eigen_dir)
+endif()
+
+# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
+configure_file(gtsam_eigen_includes.h.in gtsam_eigen_includes.h)
diff --git a/gtsam/3rdparty/gtsam_eigen_includes.h.in b/gtsam/3rdparty/gtsam_eigen_includes.h.in
new file mode 100644
index 000000000..bd41228b5
--- /dev/null
+++ b/gtsam/3rdparty/gtsam_eigen_includes.h.in
@@ -0,0 +1,24 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    gtsam_eigen_includes.h
+ * @brief   File to include the Eigen headers that we use - generated by CMake
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/Dense>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/QR>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/LU>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/SVD>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/Geometry>
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index a6a8f0f05..d882f51e9 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -128,6 +128,9 @@ set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp"
     APPEND PROPERTY COMPILE_DEFINITIONS
 	"SOURCE_TREE_DATASET_DIR=\"${CMAKE_SOURCE_DIR}/examples/Data\""
 	"INSTALLED_DATASET_DIR=\"${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data\"")
+	
+# Generate config file
+configure_file(config.h.in config.h)
 
 # Create the matlab toolbox for the gtsam library
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)
diff --git a/gtsam/base/DSFVector.h b/gtsam/base/DSFVector.h
index e1848c79a..dd22d5b83 100644
--- a/gtsam/base/DSFVector.h
+++ b/gtsam/base/DSFVector.h
@@ -23,7 +23,7 @@
 #include <set>
 #include <boost/shared_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 namespace gtsam {
 
diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h
index 5e85c1267..052e5d086 100644
--- a/gtsam/base/LieScalar.h
+++ b/gtsam/base/LieScalar.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/dllexport.h>
+#include <gtsam/dllexport.h>
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
 
diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 64df12918..2b72a55e4 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -15,15 +15,12 @@
  * @author Christian Potthast
  */
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/FastList.h>
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
-#include <gtsam/3rdparty/Eigen/Eigen/SVD>
-
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
 
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 297e77852..71989db44 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -23,7 +23,6 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/3rdparty/Eigen/Eigen/QR>
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h
index 7308b89a7..b62372957 100644
--- a/gtsam/base/TestableAssertions.h
+++ b/gtsam/base/TestableAssertions.h
@@ -22,7 +22,7 @@
 #include <iostream>
 #include <boost/foreach.hpp>
 #include <boost/optional.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Testable.h>
 
 namespace gtsam {
diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp
index 82d503837..7a71eb125 100644
--- a/gtsam/base/Vector.cpp
+++ b/gtsam/base/Vector.cpp
@@ -29,7 +29,6 @@
 #include <cstdio>
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/types.h>
 
 //#ifdef WIN32
 //#include <Windows.h>
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index f2c6a2e5c..20699ebcc 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -23,8 +23,8 @@
 #include <list>
 #include <vector>
 #include <iostream>
-#include <gtsam/base/types.h>
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
+#include <gtsam/global_includes.h>
+#include <gtsam/3rdparty/gtsam_eigen_includes.h>
 
 namespace gtsam {
 
diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp
index 15a8a9208..f3c6b2b23 100644
--- a/gtsam/base/cholesky.cpp
+++ b/gtsam/base/cholesky.cpp
@@ -20,9 +20,6 @@
 #include <gtsam/base/cholesky.h>
 #include <gtsam/base/timing.h>
 
-#include <gtsam/3rdparty/Eigen/Eigen/Core>
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
-
 #include <boost/format.hpp>
 #include <cmath>
 
diff --git a/gtsam/base/debug.h b/gtsam/base/debug.h
index c45e3d267..f416bd826 100644
--- a/gtsam/base/debug.h
+++ b/gtsam/base/debug.h
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/base/FastMap.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <string>
 
 
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index b63f1148c..b1cbe40ef 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -21,7 +21,7 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
 #include <boost/version.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 // Automatically use the new Boost timers if version is recent enough.
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index d64353d04..94fcb4b27 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include <gtsam/base/dllexport.h>
+#include <gtsam/dllexport.h>
 
 #include <cstddef>
 
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
new file mode 100644
index 000000000..e89a31da6
--- /dev/null
+++ b/gtsam/config.h.in
@@ -0,0 +1,27 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    config.h
+ * @brief   Settings and paths configured with CMake
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+// Paths to example datasets distributed with GTSAM
+namespace gtsam {
+  static const char* SourceTreeDatasetDir = "@CMAKE_SOURCE_DIR@/examples/Data";
+  static const char* InstalledDatasetDir = "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data";
+}
+
+// Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
+#cmakedefine GTSAM_USE_QUATERNIONS
diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index ba49f1471..6451886c3 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <map>
 #include <string>
diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h
index 2dd23ec49..33e266c91 100644
--- a/gtsam/discrete/Potentials.h
+++ b/gtsam/discrete/Potentials.h
@@ -19,7 +19,6 @@
 
 #include <gtsam/discrete/AlgebraicDecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/base/types.h>
 #include <gtsam/inference/Permutation.h>
 
 #include <boost/shared_ptr.hpp>
diff --git a/gtsam/base/dllexport.h b/gtsam/dllexport.h
similarity index 100%
rename from gtsam/base/dllexport.h
rename to gtsam/dllexport.h
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index ade3f6ecb..e9c7c6b64 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -21,9 +21,11 @@
 
 #pragma once
 
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
 // You can override the default coordinate mode using this flag
 #ifndef ROT3_DEFAULT_COORDINATES_MODE
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
 // Exponential map is very cheap for quaternions
 #define ROT3_DEFAULT_COORDINATES_MODE Rot3::EXPMAP
 #else
@@ -35,7 +37,6 @@
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/geometry/Point3.h>
-#include <gtsam/3rdparty/Eigen/Eigen/Geometry>
 
 namespace gtsam {
 
@@ -46,7 +47,7 @@ namespace gtsam {
 
   /**
    * @brief A 3D rotation represented as a rotation matrix if the preprocessor
-   * symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it
+   * symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it
    * is defined.
    * @addtogroup geometry
    * \nosubgrouping
@@ -56,7 +57,7 @@ namespace gtsam {
     static const size_t dimension = 3;
 
   private:
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
     /** Internal Eigen Quaternion */
     Quaternion quaternion_;
 #else
@@ -222,18 +223,18 @@ namespace gtsam {
      * exponential map, but this can be expensive to compute. The following Enum is used
      * to indicate which method should be used.  The default
      * is determined by ROT3_DEFAULT_COORDINATES_MODE, which may be set at compile time,
-     * and itself defaults to Rot3::CAYLEY, or if GTSAM_DEFAULT_QUATERNIONS is defined,
+     * and itself defaults to Rot3::CAYLEY, or if GTSAM_USE_QUATERNIONS is defined,
      * to Rot3::EXPMAP.
      */
     enum CoordinatesMode {
       EXPMAP, ///< Use the Lie group exponential map to retract
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
       CAYLEY, ///< Retract and localCoordinates using the Cayley transform.
       SLOW_CAYLEY ///< Slow matrix implementation of Cayley transform (for tests only).
 #endif
       };
 
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
     /// Retraction from R^3 to Rot3 manifold using the Cayley transform
     Rot3 retractCayley(const Vector& omega) const;
 #endif
@@ -362,7 +363,7 @@ namespace gtsam {
     {
        ar & boost::serialization::make_nvp("Rot3",
            boost::serialization::base_object<Value>(*this));
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
        ar & boost::serialization::make_nvp("rot11", rot_(0,0));
        ar & boost::serialization::make_nvp("rot12", rot_(0,1));
        ar & boost::serialization::make_nvp("rot13", rot_(0,2));
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 2e09fd3f9..b63499d6d 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -1,385 +1,387 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    Rot3M.cpp
- * @brief   Rotation (internal: 3*3 matrix representation*)
- * @author  Alireza Fathi
- * @author  Christian Potthast
- * @author  Frank Dellaert
- * @author  Richard Roberts
- */
-
-#ifndef GTSAM_DEFAULT_QUATERNIONS
-
-#include <gtsam/geometry/Rot3.h>
-#include <boost/math/constants/constants.hpp>
-#include <cmath>
-
-using namespace std;
-
-namespace gtsam {
-
-static const Matrix3 I3 = Matrix3::Identity();
-
-/* ************************************************************************* */
-Rot3::Rot3() : rot_(Matrix3::Identity()) {}
-
-/* ************************************************************************* */
-Rot3::Rot3(const Point3& r1, const Point3& r2, const Point3& r3) {
-  rot_.col(0) = r1.vector();
-  rot_.col(1) = r2.vector();
-  rot_.col(2) = r3.vector();
-}
-
-/* ************************************************************************* */
-Rot3::Rot3(double R11, double R12, double R13,
-    double R21, double R22, double R23,
-    double R31, double R32, double R33) {
-    rot_ << R11, R12, R13,
-        R21, R22, R23,
-        R31, R32, R33;
-}
-
-/* ************************************************************************* */
-Rot3::Rot3(const Matrix3& R) {
-  rot_ = R;
-}
-
-/* ************************************************************************* */
-Rot3::Rot3(const Matrix& R) {
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    Rot3M.cpp
+ * @brief   Rotation (internal: 3*3 matrix representation*)
+ * @author  Alireza Fathi
+ * @author  Christian Potthast
+ * @author  Frank Dellaert
+ * @author  Richard Roberts
+ */
+
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
+#ifndef GTSAM_USE_QUATERNIONS
+
+#include <gtsam/geometry/Rot3.h>
+#include <boost/math/constants/constants.hpp>
+#include <cmath>
+
+using namespace std;
+
+namespace gtsam {
+
+static const Matrix3 I3 = Matrix3::Identity();
+
+/* ************************************************************************* */
+Rot3::Rot3() : rot_(Matrix3::Identity()) {}
+
+/* ************************************************************************* */
+Rot3::Rot3(const Point3& r1, const Point3& r2, const Point3& r3) {
+  rot_.col(0) = r1.vector();
+  rot_.col(1) = r2.vector();
+  rot_.col(2) = r3.vector();
+}
+
+/* ************************************************************************* */
+Rot3::Rot3(double R11, double R12, double R13,
+    double R21, double R22, double R23,
+    double R31, double R32, double R33) {
+    rot_ << R11, R12, R13,
+        R21, R22, R23,
+        R31, R32, R33;
+}
+
+/* ************************************************************************* */
+Rot3::Rot3(const Matrix3& R) {
+  rot_ = R;
+}
+
+/* ************************************************************************* */
+Rot3::Rot3(const Matrix& R) {
   if (R.rows()!=3 || R.cols()!=3)
     throw invalid_argument("Rot3 constructor expects 3*3 matrix");
-  rot_ = R;
-}
-
-///* ************************************************************************* */
-//Rot3::Rot3(const Matrix3& R) : rot_(R) {}
-
-/* ************************************************************************* */
-Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) {}
-
-/* ************************************************************************* */
-Rot3 Rot3::Rx(double t) {
-  double st = sin(t), ct = cos(t);
-  return Rot3(
-      1,  0,  0,
-      0, ct,-st,
-      0, st, ct);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::Ry(double t) {
-  double st = sin(t), ct = cos(t);
-  return Rot3(
-      ct, 0, st,
-      0, 1,  0,
-      -st, 0, ct);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::Rz(double t) {
-  double st = sin(t), ct = cos(t);
-  return Rot3(
-      ct,-st, 0,
-      st, ct, 0,
-      0,  0, 1);
-}
-
-/* ************************************************************************* */
-// Considerably faster than composing matrices above !
-Rot3 Rot3::RzRyRx(double x, double y, double z) {
-  double cx=cos(x),sx=sin(x);
-  double cy=cos(y),sy=sin(y);
-  double cz=cos(z),sz=sin(z);
-  double ss_ = sx * sy;
-  double cs_ = cx * sy;
-  double sc_ = sx * cy;
-  double cc_ = cx * cy;
-  double c_s = cx * sz;
-  double s_s = sx * sz;
-  double _cs = cy * sz;
-  double _cc = cy * cz;
-  double s_c = sx * cz;
-  double c_c = cx * cz;
-  double ssc = ss_ * cz, csc = cs_ * cz, sss = ss_ * sz, css = cs_ * sz;
-  return Rot3(
-      _cc,- c_s + ssc,  s_s + csc,
-      _cs,  c_c + sss, -s_c + css,
-      -sy,        sc_,        cc_
-  );
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::rodriguez(const Vector& w, double theta) {
-  // get components of axis \omega
-  double wx = w(0), wy=w(1), wz=w(2);
-  double wwTxx = wx*wx, wwTyy = wy*wy, wwTzz = wz*wz;
-#ifndef NDEBUG
-  double l_n = wwTxx + wwTyy + wwTzz;
-  if (std::abs(l_n-1.0)>1e-9) throw domain_error("rodriguez: length of n should be 1");
-#endif
-
-  double c = cos(theta), s = sin(theta), c_1 = 1 - c;
-
-  double swx = wx * s, swy = wy * s, swz = wz * s;
-  double C00 = c_1*wwTxx, C01 = c_1*wx*wy, C02 = c_1*wx*wz;
-  double                  C11 = c_1*wwTyy, C12 = c_1*wy*wz;
-  double                                   C22 = c_1*wwTzz;
-
-  return Rot3(
-        c + C00, -swz + C01,  swy + C02,
-      swz + C01,    c + C11, -swx + C12,
-     -swy + C02,  swx + C12,    c + C22);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::rodriguez(const Vector& w) {
-  double t = w.norm();
-  if (t < 1e-10) return Rot3();
-  return rodriguez(w/t, t);
-}
-
-/* ************************************************************************* */
-bool Rot3::equals(const Rot3 & R, double tol) const {
-  return equal_with_abs_tol(matrix(), R.matrix(), tol);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::compose (const Rot3& R2,
-    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-  if (H1) *H1 = R2.transpose();
-  if (H2) *H2 = I3;
-  return *this * R2;
-}
-
-/* ************************************************************************* */
-Point3 Rot3::operator*(const Point3& p) const { return rotate(p); }
-
-/* ************************************************************************* */
-Rot3 Rot3::inverse(boost::optional<Matrix&> H1) const {
-  if (H1) *H1 = -rot_;
-  return Rot3(Matrix3(rot_.transpose()));
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::between (const Rot3& R2,
-    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-  if (H1) *H1 = -(R2.transpose()*rot_);
-  if (H2) *H2 = I3;
-  return Rot3(Matrix3(rot_.transpose()*R2.rot_));
-  //return between_default(*this, R2);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::operator*(const Rot3& R2) const {
-  return Rot3(Matrix3(rot_*R2.rot_));
-}
-
-/* ************************************************************************* */
-Point3 Rot3::rotate(const Point3& p,
-    boost::optional<Matrix&> H1,  boost::optional<Matrix&> H2) const {
-  if (H1 || H2) {
-      if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z());
-      if (H2) *H2 = rot_;
-    }
-  return Point3(rot_ * p.vector());
-}
-
-/* ************************************************************************* */
-// see doc/math.lyx, SO(3) section
-Point3 Rot3::unrotate(const Point3& p,
-    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-  Point3 q(rot_.transpose()*p.vector()); // q = Rt*p
-  if (H1) *H1 = skewSymmetric(q.x(), q.y(), q.z());
-  if (H2) *H2 = transpose();
-  return q;
-}
-
-/* ************************************************************************* */
-// Log map at identity - return the canonical coordinates of this rotation
-Vector3 Rot3::Logmap(const Rot3& R) {
-
-  static const double PI = boost::math::constants::pi<double>();
-
-  const Matrix3& rot = R.rot_;
-  // Get trace(R)
-  double tr = rot.trace();
-
-  // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc.
-  // we do something special
-  if (std::abs(tr+1.0) < 1e-10) {
-    if(std::abs(rot(2,2)+1.0) > 1e-10)
-      return (PI / sqrt(2.0+2.0*rot(2,2) )) *
-          Vector3(rot(0,2), rot(1,2), 1.0+rot(2,2));
-    else if(std::abs(rot(1,1)+1.0) > 1e-10)
-      return (PI / sqrt(2.0+2.0*rot(1,1))) *
-          Vector3(rot(0,1), 1.0+rot(1,1), rot(2,1));
-    else // if(std::abs(R.r1_.x()+1.0) > 1e-10)  This is implicit
-      return (PI / sqrt(2.0+2.0*rot(0,0))) *
-          Vector3(1.0+rot(0,0), rot(1,0), rot(2,0));
-  } else {
-    double magnitude;
-    double tr_3 = tr-3.0; // always negative
-    if (tr_3<-1e-7) {
-      double theta = acos((tr-1.0)/2.0);
-      magnitude = theta/(2.0*sin(theta));
-    } else {
-      // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0)
-      // use Taylor expansion: magnitude \approx 1/2-(t-3)/12 + O((t-3)^2)
-      magnitude = 0.5 - tr_3*tr_3/12.0;
-    }
-    return magnitude*Vector3(
-        rot(2,1)-rot(1,2),
-        rot(0,2)-rot(2,0),
-        rot(1,0)-rot(0,1));
-  }
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::retractCayley(const Vector& omega) const {
-  const double x = omega(0), y = omega(1), z = omega(2);
-  const double x2 = x * x, y2 = y * y, z2 = z * z;
-  const double xy = x * y, xz = x * z, yz = y * z;
-  const double f = 1.0 / (4.0 + x2 + y2 + z2), _2f = 2.0 * f;
-  return (*this)
-      * Rot3((4 + x2 - y2 - z2) * f, (xy - 2 * z) * _2f, (xz + 2 * y) * _2f,
-          (xy + 2 * z) * _2f, (4 - x2 + y2 - z2) * f, (yz - 2 * x) * _2f,
-          (xz - 2 * y) * _2f, (yz + 2 * x) * _2f, (4 - x2 - y2 + z2) * f);
-}
-
-/* ************************************************************************* */
-Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
-  if(mode == Rot3::EXPMAP) {
-    return (*this)*Expmap(omega);
-  } else if(mode == Rot3::CAYLEY) {
-    return retractCayley(omega);
-  } else if(mode == Rot3::SLOW_CAYLEY) {
-    Matrix Omega = skewSymmetric(omega);
-    return (*this)*Cayley<3>(-Omega/2);
-  } else {
-    assert(false);
-    exit(1);
-  }
-}
-
-/* ************************************************************************* */
-Vector3 Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
-  if(mode == Rot3::EXPMAP) {
-    return Logmap(between(T));
-  } else if(mode == Rot3::CAYLEY) {
-    // Create a fixed-size matrix
-    Eigen::Matrix3d A(between(T).matrix());
-    // Mathematica closed form optimization (procrastination?) gone wild:
-    const double a=A(0,0),b=A(0,1),c=A(0,2);
-    const double d=A(1,0),e=A(1,1),f=A(1,2);
-    const double g=A(2,0),h=A(2,1),i=A(2,2);
-    const double di = d*i, ce = c*e, cd = c*d, fg=f*g;
-    const double M = 1 + e - f*h + i + e*i;
-    const double K = 2.0 / (cd*h + M + a*M -g*(c + ce) - b*(d + di - fg));
-    const double x = (a * f - cd + f) * K;
-    const double y = (b * f - ce - c) * K;
-    const double z = (fg - di - d) * K;
-    return -2 * Vector3(x, y, z);
-  } else if(mode == Rot3::SLOW_CAYLEY) {
-    // Create a fixed-size matrix
-    Eigen::Matrix3d A(between(T).matrix());
-    // using templated version of Cayley
-    Eigen::Matrix3d Omega = Cayley<3>(A);
-    return -2*Vector3(Omega(2,1),Omega(0,2),Omega(1,0));
-  } else {
-    assert(false);
-    exit(1);
-  }
-}
-
-/* ************************************************************************* */
-Matrix3 Rot3::matrix() const {
-  return rot_;
-}
-
-/* ************************************************************************* */
-Matrix3 Rot3::transpose() const {
-  return rot_.transpose();
-}
-
-/* ************************************************************************* */
-Point3 Rot3::column(int index) const{
-  return Point3(rot_.col(index));
-}
-
-/* ************************************************************************* */
-Point3 Rot3::r1() const { return Point3(rot_.col(0)); }
-
-/* ************************************************************************* */
-Point3 Rot3::r2() const { return Point3(rot_.col(1)); }
-
-/* ************************************************************************* */
-Point3 Rot3::r3() const { return Point3(rot_.col(2)); }
-
-/* ************************************************************************* */
-Vector3 Rot3::xyz() const {
-  Matrix3 I;Vector3 q;
-  boost::tie(I,q)=RQ(rot_);
-  return q;
-}
-
-/* ************************************************************************* */
-Vector3 Rot3::ypr() const {
-  Vector3 q = xyz();
-  return Vector3(q(2),q(1),q(0));
-}
-
-/* ************************************************************************* */
-Vector3 Rot3::rpy() const {
-  return xyz();
-}
-
-/* ************************************************************************* */
-Quaternion Rot3::toQuaternion() const {
-  return Quaternion(rot_);
-}
-
-/* ************************************************************************* */
-Vector Rot3::quaternion() const {
-  Quaternion q = toQuaternion();
-  Vector v(4);
-  v(0) = q.w();
-  v(1) = q.x();
-  v(2) = q.y();
-  v(3) = q.z();
-  return v;
-}
-
-/* ************************************************************************* */
-pair<Matrix3, Vector3> RQ(const Matrix3& A) {
-
-  double x = -atan2(-A(2, 1), A(2, 2));
-  Rot3 Qx = Rot3::Rx(-x);
-  Matrix3 B = A * Qx.matrix();
-
-  double y = -atan2(B(2, 0), B(2, 2));
-  Rot3 Qy = Rot3::Ry(-y);
-  Matrix3 C = B * Qy.matrix();
-
-  double z = -atan2(-C(1, 0), C(1, 1));
-  Rot3 Qz = Rot3::Rz(-z);
-  Matrix3 R = C * Qz.matrix();
-
-  Vector xyz = Vector3(x, y, z);
-  return make_pair(R, xyz);
-}
-
-/* ************************************************************************* */
-
-} // namespace gtsam
-
-#endif
+  rot_ = R;
+}
+
+///* ************************************************************************* */
+//Rot3::Rot3(const Matrix3& R) : rot_(R) {}
+
+/* ************************************************************************* */
+Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) {}
+
+/* ************************************************************************* */
+Rot3 Rot3::Rx(double t) {
+  double st = sin(t), ct = cos(t);
+  return Rot3(
+      1,  0,  0,
+      0, ct,-st,
+      0, st, ct);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::Ry(double t) {
+  double st = sin(t), ct = cos(t);
+  return Rot3(
+      ct, 0, st,
+      0, 1,  0,
+      -st, 0, ct);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::Rz(double t) {
+  double st = sin(t), ct = cos(t);
+  return Rot3(
+      ct,-st, 0,
+      st, ct, 0,
+      0,  0, 1);
+}
+
+/* ************************************************************************* */
+// Considerably faster than composing matrices above !
+Rot3 Rot3::RzRyRx(double x, double y, double z) {
+  double cx=cos(x),sx=sin(x);
+  double cy=cos(y),sy=sin(y);
+  double cz=cos(z),sz=sin(z);
+  double ss_ = sx * sy;
+  double cs_ = cx * sy;
+  double sc_ = sx * cy;
+  double cc_ = cx * cy;
+  double c_s = cx * sz;
+  double s_s = sx * sz;
+  double _cs = cy * sz;
+  double _cc = cy * cz;
+  double s_c = sx * cz;
+  double c_c = cx * cz;
+  double ssc = ss_ * cz, csc = cs_ * cz, sss = ss_ * sz, css = cs_ * sz;
+  return Rot3(
+      _cc,- c_s + ssc,  s_s + csc,
+      _cs,  c_c + sss, -s_c + css,
+      -sy,        sc_,        cc_
+  );
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::rodriguez(const Vector& w, double theta) {
+  // get components of axis \omega
+  double wx = w(0), wy=w(1), wz=w(2);
+  double wwTxx = wx*wx, wwTyy = wy*wy, wwTzz = wz*wz;
+#ifndef NDEBUG
+  double l_n = wwTxx + wwTyy + wwTzz;
+  if (std::abs(l_n-1.0)>1e-9) throw domain_error("rodriguez: length of n should be 1");
+#endif
+
+  double c = cos(theta), s = sin(theta), c_1 = 1 - c;
+
+  double swx = wx * s, swy = wy * s, swz = wz * s;
+  double C00 = c_1*wwTxx, C01 = c_1*wx*wy, C02 = c_1*wx*wz;
+  double                  C11 = c_1*wwTyy, C12 = c_1*wy*wz;
+  double                                   C22 = c_1*wwTzz;
+
+  return Rot3(
+        c + C00, -swz + C01,  swy + C02,
+      swz + C01,    c + C11, -swx + C12,
+     -swy + C02,  swx + C12,    c + C22);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::rodriguez(const Vector& w) {
+  double t = w.norm();
+  if (t < 1e-10) return Rot3();
+  return rodriguez(w/t, t);
+}
+
+/* ************************************************************************* */
+bool Rot3::equals(const Rot3 & R, double tol) const {
+  return equal_with_abs_tol(matrix(), R.matrix(), tol);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::compose (const Rot3& R2,
+    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+  if (H1) *H1 = R2.transpose();
+  if (H2) *H2 = I3;
+  return *this * R2;
+}
+
+/* ************************************************************************* */
+Point3 Rot3::operator*(const Point3& p) const { return rotate(p); }
+
+/* ************************************************************************* */
+Rot3 Rot3::inverse(boost::optional<Matrix&> H1) const {
+  if (H1) *H1 = -rot_;
+  return Rot3(Matrix3(rot_.transpose()));
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::between (const Rot3& R2,
+    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+  if (H1) *H1 = -(R2.transpose()*rot_);
+  if (H2) *H2 = I3;
+  return Rot3(Matrix3(rot_.transpose()*R2.rot_));
+  //return between_default(*this, R2);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::operator*(const Rot3& R2) const {
+  return Rot3(Matrix3(rot_*R2.rot_));
+}
+
+/* ************************************************************************* */
+Point3 Rot3::rotate(const Point3& p,
+    boost::optional<Matrix&> H1,  boost::optional<Matrix&> H2) const {
+  if (H1 || H2) {
+      if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z());
+      if (H2) *H2 = rot_;
+    }
+  return Point3(rot_ * p.vector());
+}
+
+/* ************************************************************************* */
+// see doc/math.lyx, SO(3) section
+Point3 Rot3::unrotate(const Point3& p,
+    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+  Point3 q(rot_.transpose()*p.vector()); // q = Rt*p
+  if (H1) *H1 = skewSymmetric(q.x(), q.y(), q.z());
+  if (H2) *H2 = transpose();
+  return q;
+}
+
+/* ************************************************************************* */
+// Log map at identity - return the canonical coordinates of this rotation
+Vector3 Rot3::Logmap(const Rot3& R) {
+
+  static const double PI = boost::math::constants::pi<double>();
+
+  const Matrix3& rot = R.rot_;
+  // Get trace(R)
+  double tr = rot.trace();
+
+  // when trace == -1, i.e., when theta = +-pi, +-3pi, +-5pi, etc.
+  // we do something special
+  if (std::abs(tr+1.0) < 1e-10) {
+    if(std::abs(rot(2,2)+1.0) > 1e-10)
+      return (PI / sqrt(2.0+2.0*rot(2,2) )) *
+          Vector3(rot(0,2), rot(1,2), 1.0+rot(2,2));
+    else if(std::abs(rot(1,1)+1.0) > 1e-10)
+      return (PI / sqrt(2.0+2.0*rot(1,1))) *
+          Vector3(rot(0,1), 1.0+rot(1,1), rot(2,1));
+    else // if(std::abs(R.r1_.x()+1.0) > 1e-10)  This is implicit
+      return (PI / sqrt(2.0+2.0*rot(0,0))) *
+          Vector3(1.0+rot(0,0), rot(1,0), rot(2,0));
+  } else {
+    double magnitude;
+    double tr_3 = tr-3.0; // always negative
+    if (tr_3<-1e-7) {
+      double theta = acos((tr-1.0)/2.0);
+      magnitude = theta/(2.0*sin(theta));
+    } else {
+      // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0)
+      // use Taylor expansion: magnitude \approx 1/2-(t-3)/12 + O((t-3)^2)
+      magnitude = 0.5 - tr_3*tr_3/12.0;
+    }
+    return magnitude*Vector3(
+        rot(2,1)-rot(1,2),
+        rot(0,2)-rot(2,0),
+        rot(1,0)-rot(0,1));
+  }
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::retractCayley(const Vector& omega) const {
+  const double x = omega(0), y = omega(1), z = omega(2);
+  const double x2 = x * x, y2 = y * y, z2 = z * z;
+  const double xy = x * y, xz = x * z, yz = y * z;
+  const double f = 1.0 / (4.0 + x2 + y2 + z2), _2f = 2.0 * f;
+  return (*this)
+      * Rot3((4 + x2 - y2 - z2) * f, (xy - 2 * z) * _2f, (xz + 2 * y) * _2f,
+          (xy + 2 * z) * _2f, (4 - x2 + y2 - z2) * f, (yz - 2 * x) * _2f,
+          (xz - 2 * y) * _2f, (yz + 2 * x) * _2f, (4 - x2 - y2 + z2) * f);
+}
+
+/* ************************************************************************* */
+Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
+  if(mode == Rot3::EXPMAP) {
+    return (*this)*Expmap(omega);
+  } else if(mode == Rot3::CAYLEY) {
+    return retractCayley(omega);
+  } else if(mode == Rot3::SLOW_CAYLEY) {
+    Matrix Omega = skewSymmetric(omega);
+    return (*this)*Cayley<3>(-Omega/2);
+  } else {
+    assert(false);
+    exit(1);
+  }
+}
+
+/* ************************************************************************* */
+Vector3 Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
+  if(mode == Rot3::EXPMAP) {
+    return Logmap(between(T));
+  } else if(mode == Rot3::CAYLEY) {
+    // Create a fixed-size matrix
+    Eigen::Matrix3d A(between(T).matrix());
+    // Mathematica closed form optimization (procrastination?) gone wild:
+    const double a=A(0,0),b=A(0,1),c=A(0,2);
+    const double d=A(1,0),e=A(1,1),f=A(1,2);
+    const double g=A(2,0),h=A(2,1),i=A(2,2);
+    const double di = d*i, ce = c*e, cd = c*d, fg=f*g;
+    const double M = 1 + e - f*h + i + e*i;
+    const double K = 2.0 / (cd*h + M + a*M -g*(c + ce) - b*(d + di - fg));
+    const double x = (a * f - cd + f) * K;
+    const double y = (b * f - ce - c) * K;
+    const double z = (fg - di - d) * K;
+    return -2 * Vector3(x, y, z);
+  } else if(mode == Rot3::SLOW_CAYLEY) {
+    // Create a fixed-size matrix
+    Eigen::Matrix3d A(between(T).matrix());
+    // using templated version of Cayley
+    Eigen::Matrix3d Omega = Cayley<3>(A);
+    return -2*Vector3(Omega(2,1),Omega(0,2),Omega(1,0));
+  } else {
+    assert(false);
+    exit(1);
+  }
+}
+
+/* ************************************************************************* */
+Matrix3 Rot3::matrix() const {
+  return rot_;
+}
+
+/* ************************************************************************* */
+Matrix3 Rot3::transpose() const {
+  return rot_.transpose();
+}
+
+/* ************************************************************************* */
+Point3 Rot3::column(int index) const{
+  return Point3(rot_.col(index));
+}
+
+/* ************************************************************************* */
+Point3 Rot3::r1() const { return Point3(rot_.col(0)); }
+
+/* ************************************************************************* */
+Point3 Rot3::r2() const { return Point3(rot_.col(1)); }
+
+/* ************************************************************************* */
+Point3 Rot3::r3() const { return Point3(rot_.col(2)); }
+
+/* ************************************************************************* */
+Vector3 Rot3::xyz() const {
+  Matrix3 I;Vector3 q;
+  boost::tie(I,q)=RQ(rot_);
+  return q;
+}
+
+/* ************************************************************************* */
+Vector3 Rot3::ypr() const {
+  Vector3 q = xyz();
+  return Vector3(q(2),q(1),q(0));
+}
+
+/* ************************************************************************* */
+Vector3 Rot3::rpy() const {
+  return xyz();
+}
+
+/* ************************************************************************* */
+Quaternion Rot3::toQuaternion() const {
+  return Quaternion(rot_);
+}
+
+/* ************************************************************************* */
+Vector Rot3::quaternion() const {
+  Quaternion q = toQuaternion();
+  Vector v(4);
+  v(0) = q.w();
+  v(1) = q.x();
+  v(2) = q.y();
+  v(3) = q.z();
+  return v;
+}
+
+/* ************************************************************************* */
+pair<Matrix3, Vector3> RQ(const Matrix3& A) {
+
+  double x = -atan2(-A(2, 1), A(2, 2));
+  Rot3 Qx = Rot3::Rx(-x);
+  Matrix3 B = A * Qx.matrix();
+
+  double y = -atan2(B(2, 0), B(2, 2));
+  Rot3 Qy = Rot3::Ry(-y);
+  Matrix3 C = B * Qy.matrix();
+
+  double z = -atan2(-C(1, 0), C(1, 1));
+  Rot3 Qz = Rot3::Rz(-z);
+  Matrix3 R = C * Qz.matrix();
+
+  Vector xyz = Vector3(x, y, z);
+  return make_pair(R, xyz);
+}
+
+/* ************************************************************************* */
+
+} // namespace gtsam
+
+#endif
diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index 4a13bfeee..afab3900c 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -15,7 +15,9 @@
  * @author  Richard Roberts
  */
 
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
+#ifdef GTSAM_USE_QUATERNIONS
 
 #include <boost/math/constants/constants.hpp>
 #include <gtsam/geometry/Rot3.h>
diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp
index 17aa50fa6..f59455e2f 100644
--- a/gtsam/geometry/tests/testRot3M.cpp
+++ b/gtsam/geometry/tests/testRot3M.cpp
@@ -26,7 +26,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/geometry/tests/testRot3Q.cpp b/gtsam/geometry/tests/testRot3Q.cpp
index 858f9a390..e8733c24d 100644
--- a/gtsam/geometry/tests/testRot3Q.cpp
+++ b/gtsam/geometry/tests/testRot3Q.cpp
@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3.h>
 
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
 
 using namespace gtsam;
 
diff --git a/gtsam/global_includes.h b/gtsam/global_includes.h
new file mode 100644
index 000000000..9eba7c7fc
--- /dev/null
+++ b/gtsam/global_includes.h
@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     global_includes.h
+ * @brief    Included from all GTSAM files
+ * @author   Richard Roberts
+ * @addtogroup base
+ */
+
+#pragma once
+
+#include <gtsam/config.h>      // Configuration from CMake
+#include <gtsam/base/types.h>  // Basic types, constants, and compatibility functions
+// types.h includes dllexport.h, which contains macros for dllspec tags for Windows DLLs
diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h
index d3998656a..7aa54b216 100644
--- a/gtsam/inference/BayesNet.h
+++ b/gtsam/inference/BayesNet.h
@@ -25,7 +25,7 @@
 #include <boost/assign/list_inserter.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/inference/Permutation.h>
 
diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index 5e35b3f09..8f57531ae 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -27,7 +27,7 @@
 #include <boost/make_shared.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/BayesNet.h>
diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
index 4841f6669..5e06aea1c 100644
--- a/gtsam/inference/BayesTreeCliqueBase.h
+++ b/gtsam/inference/BayesTreeCliqueBase.h
@@ -21,7 +21,7 @@
 #include <boost/make_shared.hpp>
 #include <boost/weak_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/BayesNet.h>
 
diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h
index c1d3cfa76..b88929878 100644
--- a/gtsam/inference/ClusterTree.h
+++ b/gtsam/inference/ClusterTree.h
@@ -27,7 +27,7 @@
 #include <boost/weak_ptr.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 namespace gtsam {
 
diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h
index abadb3a5a..b8ff34788 100644
--- a/gtsam/inference/Factor.h
+++ b/gtsam/inference/Factor.h
@@ -27,7 +27,7 @@
 #include <boost/foreach.hpp>
 #include <boost/function/function1.hpp>
 #include <boost/lexical_cast.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 namespace gtsam {
diff --git a/gtsam/inference/GenericSequentialSolver.h b/gtsam/inference/GenericSequentialSolver.h
index fffcb209f..250ff0d73 100644
--- a/gtsam/inference/GenericSequentialSolver.h
+++ b/gtsam/inference/GenericSequentialSolver.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Testable.h>
 
 #include <boost/function.hpp>
diff --git a/gtsam/inference/IndexConditional.h b/gtsam/inference/IndexConditional.h
index c83730e29..a4068f6c4 100644
--- a/gtsam/inference/IndexConditional.h
+++ b/gtsam/inference/IndexConditional.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/IndexFactor.h>
 #include <gtsam/inference/Permutation.h>
diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h
index 9f120d35f..213055781 100644
--- a/gtsam/inference/Permutation.h
+++ b/gtsam/inference/Permutation.h
@@ -23,7 +23,7 @@
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 namespace gtsam {
diff --git a/gtsam/inference/SymbolicFactorGraph.h b/gtsam/inference/SymbolicFactorGraph.h
index 6f8fbcfc0..31e2b2b88 100644
--- a/gtsam/inference/SymbolicFactorGraph.h
+++ b/gtsam/inference/SymbolicFactorGraph.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/IndexFactor.h>
 
diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h
index 501b84277..f503516a4 100644
--- a/gtsam/inference/VariableIndex.h
+++ b/gtsam/inference/VariableIndex.h
@@ -23,7 +23,7 @@
 #include <boost/foreach.hpp>
 
 #include <gtsam/base/FastList.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/timing.h>
 
 namespace gtsam {
diff --git a/gtsam/inference/VariableSlots.h b/gtsam/inference/VariableSlots.h
index 7bebdea41..28367a647 100644
--- a/gtsam/inference/VariableSlots.h
+++ b/gtsam/inference/VariableSlots.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 #include <iostream>
diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h
index 6de008bb1..3052e3926 100644
--- a/gtsam/linear/GaussianBayesNet.h
+++ b/gtsam/linear/GaussianBayesNet.h
@@ -20,7 +20,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/inference/BayesNet.h>
 
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index 7ec2fabb1..b8d064efe 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -21,7 +21,7 @@
 
 #include <boost/utility.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/blockMatrices.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/linear/VectorValues.h>
diff --git a/gtsam/linear/GaussianISAM.cpp b/gtsam/linear/GaussianISAM.cpp
index 17371ffc1..a358e5cab 100644
--- a/gtsam/linear/GaussianISAM.cpp
+++ b/gtsam/linear/GaussianISAM.cpp
@@ -15,7 +15,6 @@
  * @author  Michael Kaess
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/linear/GaussianISAM.h>
 #include <gtsam/linear/GaussianBayesTree.h>
 
diff --git a/gtsam/linear/GaussianMultifrontalSolver.cpp b/gtsam/linear/GaussianMultifrontalSolver.cpp
index 84eadec86..af4fe90ec 100644
--- a/gtsam/linear/GaussianMultifrontalSolver.cpp
+++ b/gtsam/linear/GaussianMultifrontalSolver.cpp
@@ -15,7 +15,6 @@
  * @date    Oct 21, 2010
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
 
 namespace gtsam {
diff --git a/gtsam/linear/GaussianSequentialSolver.cpp b/gtsam/linear/GaussianSequentialSolver.cpp
index ab6984cd6..75a8c3871 100644
--- a/gtsam/linear/GaussianSequentialSolver.cpp
+++ b/gtsam/linear/GaussianSequentialSolver.cpp
@@ -15,7 +15,6 @@
  * @date    Oct 19, 2010
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/base/timing.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index bce3396f7..f474123e4 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -22,7 +22,7 @@
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/blockMatrices.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <boost/tuple/tuple.hpp>
 
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index af02f62d4..bcd106a0e 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <boost/format.hpp>
 #include <boost/lexical_cast.hpp>
diff --git a/gtsam/linear/linearExceptions.h b/gtsam/linear/linearExceptions.h
index 6db549ee0..8b036df0a 100644
--- a/gtsam/linear/linearExceptions.h
+++ b/gtsam/linear/linearExceptions.h
@@ -17,7 +17,7 @@
  */
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <boost/lexical_cast.hpp>
 #include <exception>
 
diff --git a/gtsam/nonlinear/Key.h b/gtsam/nonlinear/Key.h
index 452af11ae..477febce9 100644
--- a/gtsam/nonlinear/Key.h
+++ b/gtsam/nonlinear/Key.h
@@ -20,7 +20,7 @@
 #include <boost/function.hpp>
 #include <string>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastVector.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/base/FastSet.h>
diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp
index ba13e23c1..466a20a84 100644
--- a/gtsam/nonlinear/Marginals.cpp
+++ b/gtsam/nonlinear/Marginals.cpp
@@ -16,7 +16,6 @@
  * @date May 14, 2012
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/base/timing.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index c5d72359f..25cce20d7 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -40,8 +40,8 @@ namespace gtsam {
 string findExampleDataFile(const string& name) {
   // Search source tree and installed location
   vector<string> rootsToSearch;
-  rootsToSearch.push_back(SOURCE_TREE_DATASET_DIR); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
-  rootsToSearch.push_back(INSTALLED_DATASET_DIR);   // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
+  rootsToSearch.push_back(SourceTreeDatasetDir); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
+  rootsToSearch.push_back(InstalledDatasetDir);   // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
 
   // Search for filename as given, and with .graph and .txt extensions
   vector<string> namesToSearch;
diff --git a/gtsam_unstable/base/Dummy.h b/gtsam_unstable/base/Dummy.h
index 48efb0ac7..ff9f3a8a6 100644
--- a/gtsam_unstable/base/Dummy.h
+++ b/gtsam_unstable/base/Dummy.h
@@ -17,7 +17,7 @@
  * @date June 14, 2012
  */
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam_unstable/base/dllexport.h>
 #include <string>
 
diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp
index bf10e38b8..5a442560e 100644
--- a/gtsam_unstable/dynamics/PoseRTV.cpp
+++ b/gtsam_unstable/dynamics/PoseRTV.cpp
@@ -3,8 +3,6 @@
  * @author Alex Cunningham
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/LU>
-
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Lie-inl.h>