From 0a4e44ea066f0ca4b04d30ed2d69d130a46f8f67 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 20 Sep 2025 15:49:41 -0700
Subject: [PATCH] [wpimath] Synchronize C++ and Java RK4 docs (NFC) (#8238)

---
 .../wpi/first/math/system/NumericalIntegration.java    | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
index a54e2eae44..546764b714 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -19,9 +19,9 @@ public final class NumericalIntegration {
   }
 
   /**
-   * Performs Runge Kutta integration (4th order).
+   * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
    *
-   * @param f The function to integrate, which takes one argument x.
+   * @param f The function to integrate. It must take one argument x.
    * @param x The initial value of x.
    * @param dtSeconds The time over which to integrate.
    * @return the integration of dx/dt = f(x) for dt.
@@ -37,13 +37,13 @@ public final class NumericalIntegration {
   }
 
   /**
-   * Performs Runge Kutta integration (4th order).
+   * Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
    *
    * @param f The function to integrate. It must take two arguments x and u.
    * @param x The initial value of x.
    * @param u The value u held constant over the integration period.
    * @param dtSeconds The time over which to integrate.
-   * @return The result of Runge Kutta integration (4th order).
+   * @return the integration of dx/dt = f(x, u) for dt.
    */
   public static double rk4(DoubleBinaryOperator f, double x, double u, double dtSeconds) {
     final var h = dtSeconds;
@@ -89,7 +89,7 @@ public final class NumericalIntegration {
    * @param f The function to integrate. It must take one argument x.
    * @param x The initial value of x.
    * @param dtSeconds The time over which to integrate.
-   * @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
+   * @return the integration of dx/dt = f(x) for dt.
    */
   public static <States extends Num> Matrix<States, N1> rk4(
       UnaryOperator<Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {