/* ----------------------------------------------------------------------------

 * 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

// Library version
#define GTSAM_VERSION_MAJOR @GTSAM_VERSION_MAJOR@
#define GTSAM_VERSION_MINOR @GTSAM_VERSION_MINOR@
#define GTSAM_VERSION_PATCH @GTSAM_VERSION_PATCH@
#define GTSAM_VERSION_NUMERIC @GTSAM_VERSION_NUMERIC@
#define GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@"

// Paths to example datasets distributed with GTSAM
#define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
#define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"

// Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
#cmakedefine GTSAM_USE_QUATERNIONS

// Whether GTSAM is compiled to use Pose3::EXPMAP as the default coordinates mode for Pose3's retract and localCoordinates (otherwise, Pose3::FIRST_ORDER will be used)
#cmakedefine GTSAM_POSE3_EXPMAP

// Whether GTSAM is compiled to use Rot3::EXPMAP as the default coordinates mode for Rot3's retract and localCoordinates (otherwise, Pose3::CAYLEY will be used)
#ifndef GTSAM_USE_QUATERNIONS
	#cmakedefine GTSAM_ROT3_EXPMAP
#endif

// Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake)
#cmakedefine GTSAM_USE_TBB

// Whether we are using a TBB version higher than 2020
#cmakedefine TBB_GREATER_EQUAL_2020

// Whether we are using system-Eigen or our own patched version
#cmakedefine GTSAM_USE_SYSTEM_EIGEN

// Whether Eigen will use MKL (if MKL was found and GTSAM_WITH_EIGEN_MKL is enabled in CMake)
#cmakedefine GTSAM_USE_EIGEN_MKL
#cmakedefine EIGEN_USE_MKL_ALL // This is also defined in gtsam_eigen_includes.h

// Whether Eigen with MKL will use OpenMP (if OpenMP was found, Eigen uses MKL, and GTSAM_WITH_EIGEN_MKL_OPENMP is enabled in CMake)
#cmakedefine GTSAM_USE_EIGEN_MKL_OPENMP

// Eigen library version (needed to avoid mixing versions, which often leads
// to segfaults)
#cmakedefine GTSAM_EIGEN_VERSION_WORLD @GTSAM_EIGEN_VERSION_WORLD@
#cmakedefine GTSAM_EIGEN_VERSION_MAJOR @GTSAM_EIGEN_VERSION_MAJOR@
#cmakedefine GTSAM_EIGEN_VERSION_MINOR @GTSAM_EIGEN_VERSION_MINOR@

// The default allocator to use
#cmakedefine GTSAM_ALLOCATOR_BOOSTPOOL
#cmakedefine GTSAM_ALLOCATOR_TBB
#cmakedefine GTSAM_ALLOCATOR_STL

// Option for not throwing the CheiralityException for points that are behind a camera
#cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION

// Make sure dependent projects that want it can see deprecated functions
#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V42

// Support Metis-based nested dissection
#cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION

// Support Metis-based nested dissection
#cmakedefine GTSAM_TANGENT_PREINTEGRATION

// Whether to use the system installed Metis instead of the provided one
#cmakedefine GTSAM_USE_SYSTEM_METIS

// Toggle switch for BetweenFactor jacobian computation
#cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR