diff --git a/include/sas_datalogger/sas_datalogger_client.hpp b/include/sas_datalogger/sas_datalogger_client.hpp
index 57fab98..bc45c85 100644
--- a/include/sas_datalogger/sas_datalogger_client.hpp
+++ b/include/sas_datalogger/sas_datalogger_client.hpp
@@ -30,7 +30,6 @@
 
 #include <eigen3/Eigen/Dense>
 
-using namespace Eigen;
 
 namespace sas
 {
@@ -68,12 +67,12 @@ class DataloggerClient: private sas::Object
     bool is_enabled(int server_count=1) const;
 
     /**
-     * @brief Log a matrix (MatrixXd) or vector (VectorXd) value under the given name.
+     * @brief Log a matrix (Eigen::MatrixXd) or vector (Eigen::VectorXd) value under the given name.
      *
      * @param name Key/name under which the value will be logged.
-     * @param value the Eigen::Ref<const MatrixXd> value to log.
+     * @param value the Eigen::Ref<const Eigen::MatrixXd> value to log.
      */
-    void log(const std::string& name, const Eigen::Ref<const MatrixXd>& value);
+    void log(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd>& value);
 
     /**
      * @brief Log a std::vector<double> value under the given name.
diff --git a/src/examples/sas_datalogger_client_example.cpp b/src/examples/sas_datalogger_client_example.cpp
index cf0fc26..8863515 100755
--- a/src/examples/sas_datalogger_client_example.cpp
+++ b/src/examples/sas_datalogger_client_example.cpp
@@ -70,11 +70,11 @@ int main(int argc,char** argv)
 
         for (auto i = 0; i < 5; i++)
         {
-            MatrixXd A(3,4); A << 1,2,3,4,5,6,7,8,9,10,11,12;
+            Eigen::MatrixXd A(3,4); A << 1,2,3,4,5,6,7,8,9,10,11,12;
             datalogger_client.log("A",A);
             datalogger_client.log("two_A",A+A);
 
-            VectorXd v(5); v << 1,5,10,15,20;
+            Eigen::VectorXd v(5); v << 1,5,10,15,20;
             datalogger_client.log("v",v);
             datalogger_client.log("two_v",v+v);
 
diff --git a/src/sas_datalogger_client.cpp b/src/sas_datalogger_client.cpp
index a21c5eb..79d25fd 100644
--- a/src/sas_datalogger_client.cpp
+++ b/src/sas_datalogger_client.cpp
@@ -38,7 +38,7 @@ bool DataloggerClient::is_enabled(int server_count) const
     return (int(publisher_log_->get_subscription_count()) >= server_count);
 }
 
-void DataloggerClient::log(const std::string& name, const Eigen::Ref<const MatrixXd>& value)
+void DataloggerClient::log(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd>& value)
 {
     sas_msgs::msg::LogDatum msg;
 
diff --git a/src/sas_datalogger_py.cpp b/src/sas_datalogger_py.cpp
index 708166d..3e14ee2 100644
--- a/src/sas_datalogger_py.cpp
+++ b/src/sas_datalogger_py.cpp
@@ -41,7 +41,7 @@ PYBIND11_MODULE(_sas_datalogger, m) {
         py::arg("server_count") = 1,
         "Returns true if the client is connected to the datalogger server, false otherwise.");
 
-    dc.def("log",py::overload_cast<const std::string&, const Eigen::Ref<const MatrixXd>&>(&DC::log),"Logs a matrix or vector.");
+    dc.def("log",py::overload_cast<const std::string&, const Eigen::Ref<const Eigen::MatrixXd>&>(&DC::log),"Logs a matrix or vector.");
     dc.def("log",py::overload_cast<const std::string&, const std::vector<double>&>(&DC::log),"Logs a vector.");
     dc.def("log",py::overload_cast<const std::string&, const double&>(&DC::log),"Logs a scalar.");
     dc.def("log",py::overload_cast<const std::string&, const std::string&>(&DC::log),"Logs a string.");