diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index 38a846f1f..15169a1dc 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -46,7 +46,7 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
    * @brief Construct a new Discrete Lookup Table object
    *
    * @param nFrontals number of frontal variables
-   * @param keys a orted list of gtsam::Keys
+   * @param keys a sorted list of gtsam::Keys
    * @param potentials the algebraic decision tree with lookup values
    */
   DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 1e399ad18..88f128191 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -59,7 +59,7 @@ Matrix6 Pose3::AdjointMap() const {
   const Matrix3 R = R_.matrix();
   Matrix3 A = skewSymmetric(t_.x(), t_.y(), t_.z()) * R;
   Matrix6 adj;
-  adj << R, Z_3x3, A, R;
+  adj << R, Z_3x3, A, R;  // Gives [R 0; A R]
   return adj;
 }
 
diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index a32b3ce22..5b053ebee 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -139,7 +139,7 @@ namespace gtsam {
       return nodes_.empty();
     }
 
-    /** return nodes */
+    /** Return nodes. Each node is a clique of variables obtained after elimination. */
     const Nodes& nodes() const { return nodes_; }
 
     /** Access node by variable */
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 92c2142a7..37feee837 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -295,6 +295,17 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
       const ISAM2UpdateParams& updateParams, const FastList<Key>& affectedKeys,
       const KeySet& relinKeys);
 
+  /**
+   * @brief Perform an incremental update of the factor graph to return a new
+   * Bayes Tree with affected keys.
+   *
+   * @param updateParams Parameters for the ISAM2 update.
+   * @param relinKeys Keys of variables to relinearize.
+   * @param affectedKeys The set of keys which are affected in the update.
+   * @param affectedKeysSet [output] Affected and contaminated keys.
+   * @param orphans [output] List of orphanes cliques after elimination.
+   * @param result [output] The result of the incremental update step.
+   */
   void recalculateIncremental(const ISAM2UpdateParams& updateParams,
                               const KeySet& relinKeys,
                               const FastList<Key>& affectedKeys,