diff --git a/CMakeLists.txt b/CMakeLists.txt
index a53c4e4ba01c79bbd32c8d16d07b960f35c115ff..dc4ab1504399a61fb25b1743789ed5c065a5bd7b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,6 +82,7 @@ SET(${PROJECT_NAME}_HEADERS
   ${${PROJECT_NAME}_SOLVERS_HEADERS}
   include/eigenpy/eigenpy.hpp
   include/eigenpy/exception.hpp
+  include/eigenpy/expose.hpp
   include/eigenpy/details.hpp
   include/eigenpy/fwd.hpp
   include/eigenpy/map.hpp
diff --git a/include/eigenpy/angle-axis.hpp b/include/eigenpy/angle-axis.hpp
index b1371237bd9407e63480f4ebbb9e81481c64a6ae..e7aca37a4e4a366ff3151ce4a57091bd263e0e4d 100644
--- a/include/eigenpy/angle-axis.hpp
+++ b/include/eigenpy/angle-axis.hpp
@@ -6,20 +6,35 @@
 #ifndef __eigenpy_angle_axis_hpp__
 #define __eigenpy_angle_axis_hpp__
 
+#include "eigenpy/fwd.hpp"
+
 #include <boost/python.hpp>
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include "eigenpy/registration.hpp"
-
 namespace eigenpy
 {
 
   namespace bp = boost::python;
+  
+  template<typename AngleAxis> class AngleAxisVisitor;
+  
+  namespace internal
+  {
+    template<typename Scalar>
+    struct call_expose< Eigen::AngleAxis<Scalar> >
+    {
+      typedef Eigen::AngleAxis<Scalar> type;
+      static inline void run()
+      {
+        AngleAxisVisitor<type>::expose();
+      }
+    };
+  } // namespace internal
 
   template<typename AngleAxis>
   class AngleAxisVisitor
-    :  public boost::python::def_visitor< AngleAxisVisitor<AngleAxis> >
+  : public bp::def_visitor< AngleAxisVisitor<AngleAxis> >
   {
 
     typedef typename AngleAxis::Scalar Scalar;
@@ -103,8 +118,6 @@ namespace eigenpy
 
     static void expose()
     {
-      if(register_symbolic_link_to_registered_type<AngleAxis>()) return;
-     
       bp::class_<AngleAxis>("AngleAxis",
                             "AngleAxis representation of rotations.\n\n",
                             bp::no_init)
diff --git a/include/eigenpy/expose.hpp b/include/eigenpy/expose.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9fc830404ddb2cc52b1e65e7c31237f27c202
--- /dev/null
+++ b/include/eigenpy/expose.hpp
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2019, INRIA
+ */
+
+#ifndef __eigenpy_expose_hpp__
+#define __eigenpy_expose_hpp__
+
+#include "eigenpy/registration.hpp"
+
+namespace eigenpy
+{
+  namespace internal
+  {
+    ///
+    /// \brief Allows a template specialization.
+    ///
+    template<typename T>
+    struct call_expose
+    {
+      static inline void run() { T::expose(); }
+    };
+  } // namespace internal
+  
+  ///
+  /// \brief Call the expose function of a given type T.
+  ///
+  template<typename T>
+  inline void expose()
+  {
+    if(not register_symbolic_link_to_registered_type<T>())
+      internal::call_expose<T>::run();
+  }
+}
+
+#endif // ifndef __eigenpy_expose_hpp__
diff --git a/include/eigenpy/fwd.hpp b/include/eigenpy/fwd.hpp
index 2c8870ce50b10c53fef81a6de40b871c4f1a7b47..d4469498887e3d2e6d787ff58ab2a27d4fc74902 100644
--- a/include/eigenpy/fwd.hpp
+++ b/include/eigenpy/fwd.hpp
@@ -26,5 +26,7 @@
   #define EIGENPY_DEFAULT_ALIGNMENT_VALUE Eigen::Unaligned
 #endif
 
+#include "eigenpy/expose.hpp"
+
 #endif // ifndef __eigenpy_fwd_hpp__
 
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index ed289d0e43882c9795a09a5c9606a17b64afdc0d..2017d4ea14a942d63fc7613330071ba13546e110 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -6,6 +6,8 @@
 #ifndef __eigenpy_quaternion_hpp__
 #define __eigenpy_quaternion_hpp__
 
+#include "eigenpy/fwd.hpp"
+
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -27,9 +29,24 @@ namespace eigenpy
 
   namespace bp = boost::python;
 
+  template<typename QuaternionDerived> class QuaternionVisitor;
+  
+  namespace internal
+  {
+    template<typename Scalar, int Options>
+    struct call_expose< Eigen::Quaternion<Scalar,Options> >
+    {
+      typedef Eigen::Quaternion<Scalar,Options> type;
+      static inline void run()
+      {
+        QuaternionVisitor<type>::expose();
+      }
+    };
+  } // namespace internal
+  
   template<typename Quaternion>
   class QuaternionVisitor
-    :  public boost::python::def_visitor< QuaternionVisitor<Quaternion> >
+  :  public bp::def_visitor< QuaternionVisitor<Quaternion> >
   {
     typedef Eigen::QuaternionBase<Quaternion> QuaternionBase;
 
@@ -203,8 +220,6 @@ namespace eigenpy
 
     static void expose()
     {
-      if(register_symbolic_link_to_registered_type<Quaternion>()) return;
-
       bp::class_<Quaternion>("Quaternion",
                              "Quaternion representing rotation.\n\n"
                              "Supported operations "
diff --git a/src/angle-axis.cpp b/src/angle-axis.cpp
index 56999b9a6c5938f1ee44eca5858836482456af4b..f4e33ef0e56839457f1fbf57a379900462852f6c 100644
--- a/src/angle-axis.cpp
+++ b/src/angle-axis.cpp
@@ -13,6 +13,6 @@ namespace eigenpy
 {
   void exposeAngleAxis()
   {
-    AngleAxisVisitor<Eigen::AngleAxisd>::expose();
+    expose<Eigen::AngleAxisd>();
   }
 } // namespace eigenpy
diff --git a/src/quaternion.cpp b/src/quaternion.cpp
index 5690ef44f7da1466b69e45499c495041705d39bf..4ffa866c3537af1715493a65be342be9e1b6b79a 100644
--- a/src/quaternion.cpp
+++ b/src/quaternion.cpp
@@ -13,6 +13,6 @@ namespace eigenpy
 {
   void exposeQuaternion()
   {
-    QuaternionVisitor<Eigen::Quaterniond>::expose();
+    expose<Eigen::Quaterniond>();
   }
 } // namespace eigenpy