diff --git a/CMakeLists.txt b/CMakeLists.txt
index 762bc035b..133f9f82e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -113,6 +113,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/eigenpy/eigen-allocator.hpp
   include/eigenpy/eigen-to-python.hpp
   include/eigenpy/eigen-from-python.hpp
+  include/eigenpy/eigen-typedef.hpp
   include/eigenpy/numpy-map.hpp
   include/eigenpy/geometry.hpp
   include/eigenpy/geometry-conversion.hpp
diff --git a/include/eigenpy/eigen-typedef.hpp b/include/eigenpy/eigen-typedef.hpp
new file mode 100644
index 000000000..c8a05a2f0
--- /dev/null
+++ b/include/eigenpy/eigen-typedef.hpp
@@ -0,0 +1,33 @@
+//
+// Copyright (c) 2020 INRIA
+//
+
+#ifndef __eigenpy_eigen_typedef_hpp__
+#define __eigenpy_eigen_typedef_hpp__
+
+#include "eigenpy/fwd.hpp"
+
+#define EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Size, SizeSuffix)   \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Eigen::Matrix<Type, Size, Size, Options> Matrix##SizeSuffix##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Eigen::Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Eigen::Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, Size)         \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Eigen::Matrix<Type, Size, Eigen::Dynamic, Options> Matrix##Size##X##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Eigen::Matrix<Type, Eigen::Dynamic, Size, Options> Matrix##X##Size##TypeSuffix;
+
+#define EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Type, Options, TypeSuffix) \
+  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 2, 2) \
+  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 3, 3) \
+  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 4, 4) \
+  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Eigen::Dynamic, X) \
+  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 2) \
+  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 3) \
+  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 4)
+
+#endif // ifndef __eigenpy_eigen_typedef_hpp__
diff --git a/include/eigenpy/eigenpy.hpp b/include/eigenpy/eigenpy.hpp
index 49544cca6..e33442a72 100644
--- a/include/eigenpy/eigenpy.hpp
+++ b/include/eigenpy/eigenpy.hpp
@@ -9,33 +9,11 @@
 #include "eigenpy/fwd.hpp"
 #include "eigenpy/deprecated.hpp"
 #include "eigenpy/config.hpp"
+#include "eigenpy/eigen-typedef.hpp"
 
 #define ENABLE_SPECIFIC_MATRIX_TYPE(TYPE) \
   ::eigenpy::enableEigenPySpecific<TYPE>();
 
-#define EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Size, SizeSuffix)   \
-  /** \ingroup matrixtypedefs */                                    \
-  typedef Eigen::Matrix<Type, Size, Size, Options> Matrix##SizeSuffix##TypeSuffix;  \
-  /** \ingroup matrixtypedefs */                                    \
-  typedef Eigen::Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
-  /** \ingroup matrixtypedefs */                                    \
-  typedef Eigen::Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, Size)         \
-  /** \ingroup matrixtypedefs */                                    \
-  typedef Eigen::Matrix<Type, Size, Eigen::Dynamic, Options> Matrix##Size##X##TypeSuffix;  \
-  /** \ingroup matrixtypedefs */                                    \
-  typedef Eigen::Matrix<Type, Eigen::Dynamic, Size, Options> Matrix##X##Size##TypeSuffix;
-
-#define EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Type, Options, TypeSuffix) \
-  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 2, 2) \
-  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 3, 3) \
-  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 4, 4) \
-  EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Eigen::Dynamic, X) \
-  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 2) \
-  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 3) \
-  EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 4)
-
 namespace eigenpy
 {