diff --git a/src/quaternion.hpp b/src/quaternion.hpp
index 52c68cac23267895b714baa99549bd425ece50eb..06be287df1109515fba4b822b0dc87b387c11847 100644
--- a/src/quaternion.hpp
+++ b/src/quaternion.hpp
@@ -45,11 +45,11 @@ namespace eigenpy
 
     typedef typename QuaternionBase::Scalar Scalar;
     typedef typename Quaternion::Coefficients Coefficients;
-    typedef Eigen::Matrix<Scalar,3,1> Vector3;
-    typedef Eigen::Matrix<Scalar,4,1> Vector4;
-    typedef Eigen::Matrix<Scalar,3,3> Matrix3;
+    typedef typename QuaternionBase::Vector3 Vector3;
+    typedef typename Eigen::Matrix<Scalar,4,1> Vector4;
+    typedef typename QuaternionBase::Matrix3 Matrix3;
 
-    typedef Eigen::AngleAxis<Scalar> AngleAxis;
+    typedef typename QuaternionBase::AngleAxisType AngleAxis;
 
   public: