diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index fa509252d..fb926c630 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -242,41 +242,6 @@ struct DefaultChart<double> {
 
 // Fixed size Eigen::Matrix type
 
-namespace internal {
-
-template <int OutM, int OutN, int InM, int InN, int InOptions>
-struct Reshape {
-  //TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
-  typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType;
-  static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
-    return in.data();
-  }
-};
-
-template <int M, int N, int InOptions>
-struct Reshape<M, N, M, N, InOptions> {
-  typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
-  static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
-    return in;
-  }
-};
-
-template <int M, int N, int InOptions>
-struct Reshape<N, M, M, N, InOptions> {
-  typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
-  static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
-    return in.transpose();
-  }
-};
-
-template <int OutM, int OutN, int InM, int InN, int InOptions>
-inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
-  BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
-  return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m);
-}
-
-}
-
 template<int M, int N, int Options>
 struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
   /**
@@ -288,10 +253,10 @@ struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
   typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
       "DefaultChart has not been implemented yet for dynamically sized matrices");
   static vector local(const T& origin, const T& other) {
-    return internal::reshape<vector::RowsAtCompileTime, 1>(other) - internal::reshape<vector::RowsAtCompileTime, 1>(origin);
+    return reshape<vector::RowsAtCompileTime, 1>(other) - reshape<vector::RowsAtCompileTime, 1>(origin);
   }
   static T retract(const T& origin, const vector& d) {
-    return origin + internal::reshape<M, N>(d);
+    return origin + reshape<M, N>(d);
   }
   static int getDimension(const T&origin) {
     return origin.rows() * origin.cols();
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 1094306a9..eaa57c810 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -293,6 +293,40 @@ void zeroBelowDiagonal(MATRIX& A, size_t cols=0) {
  */
 inline Matrix trans(const Matrix& A) { return A.transpose(); }
 
+/// Reshape functor
+template <int OutM, int OutN, int InM, int InN, int InOptions>
+struct Reshape {
+  //TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
+  typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType;
+  static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
+    return in.data();
+  }
+};
+
+/// Reshape specialization that does nothing as shape stays the same
+template <int M, int N, int InOptions>
+struct Reshape<M, N, M, N, InOptions> {
+  typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
+  static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
+    return in;
+  }
+};
+
+/// Reshape specialization that does transpose
+template <int M, int N, int InOptions>
+struct Reshape<N, M, M, N, InOptions> {
+  typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
+  static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
+    return in.transpose();
+  }
+};
+
+template <int OutM, int OutN, int InM, int InN, int InOptions>
+inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
+  BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
+  return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m);
+}
+
 /**
  * solve AX=B via in-place Lu factorization and backsubstitution
  * After calling, A contains LU, B the solved RHS vectors