Since the official standard library doesn't define a constant PI you would have to define it yourself. So the answer to your question "How can I get PI without defining it manually?" is "You don't -- or you rely on some compiler-specific extensions.". If you're not concerned about portability you could check your compiler's manual for this.
C++ allows you to write
const double PI = std::atan(1.0)*4;
but the initialization of this constant is not guaranteed to be static. The G++ compiler however handles those math functions as intrinsics and is able to compute this constant expression at compile-time.