86 lines
3.3 KiB
C
86 lines
3.3 KiB
C
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file config.h
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* @brief Settings and paths configured with CMake
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* @author Richard Roberts
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*/
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#pragma once
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// Library version
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#define GTSAM_VERSION_MAJOR @GTSAM_VERSION_MAJOR@
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#define GTSAM_VERSION_MINOR @GTSAM_VERSION_MINOR@
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#define GTSAM_VERSION_PATCH @GTSAM_VERSION_PATCH@
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#define GTSAM_VERSION_NUMERIC @GTSAM_VERSION_NUMERIC@
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#define GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@"
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// Paths to example datasets distributed with GTSAM
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#define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
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#define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
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// Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
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#cmakedefine GTSAM_USE_QUATERNIONS
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// 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)
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#cmakedefine GTSAM_POSE3_EXPMAP
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// 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)
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#ifndef GTSAM_USE_QUATERNIONS
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#cmakedefine GTSAM_ROT3_EXPMAP
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#endif
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// Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake)
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#cmakedefine GTSAM_USE_TBB
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// Whether we are using a TBB version higher than 2020
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#cmakedefine TBB_GREATER_EQUAL_2020
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// Whether we are using system-Eigen or our own patched version
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#cmakedefine GTSAM_USE_SYSTEM_EIGEN
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// Whether Eigen will use MKL (if MKL was found and GTSAM_WITH_EIGEN_MKL is enabled in CMake)
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#cmakedefine GTSAM_USE_EIGEN_MKL
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#cmakedefine EIGEN_USE_MKL_ALL // This is also defined in gtsam_eigen_includes.h
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// Whether Eigen with MKL will use OpenMP (if OpenMP was found, Eigen uses MKL, and GTSAM_WITH_EIGEN_MKL_OPENMP is enabled in CMake)
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#cmakedefine GTSAM_USE_EIGEN_MKL_OPENMP
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// Eigen library version (needed to avoid mixing versions, which often leads
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// to segfaults)
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#cmakedefine GTSAM_EIGEN_VERSION_WORLD @GTSAM_EIGEN_VERSION_WORLD@
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#cmakedefine GTSAM_EIGEN_VERSION_MAJOR @GTSAM_EIGEN_VERSION_MAJOR@
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#cmakedefine GTSAM_EIGEN_VERSION_MINOR @GTSAM_EIGEN_VERSION_MINOR@
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// The default allocator to use
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#cmakedefine GTSAM_ALLOCATOR_BOOSTPOOL
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#cmakedefine GTSAM_ALLOCATOR_TBB
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#cmakedefine GTSAM_ALLOCATOR_STL
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// Option for not throwing the CheiralityException for points that are behind a camera
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#cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION
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// Make sure dependent projects that want it can see deprecated functions
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#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V41
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// Support Metis-based nested dissection
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#cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION
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// Support Metis-based nested dissection
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#cmakedefine GTSAM_TANGENT_PREINTEGRATION
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// Whether to use the system installed Metis instead of the provided one
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#cmakedefine GTSAM_USE_SYSTEM_METIS
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// Toggle switch for BetweenFactor jacobian computation
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#cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR
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