diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
index 5eac0b3ba1..3686825938 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -144,7 +144,7 @@ public class LinearFilter {
    * <p>Stencil points are the indices of the samples to use in the finite difference. 0 is the
    * current sample, -1 is the previous sample, -2 is the sample before that, etc. Don't use
    * positive stencil points (samples from the future) if the LinearFilter will be used for
-   * stream-based online filtering.
+   * stream-based online filtering (e.g., taking derivative of encoder samples in real-time).
    *
    * @param derivative The order of the derivative to compute.
    * @param samples The number of samples to use to compute the given derivative. This must be one
diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
index 7f21daa772..a72b486749 100644
--- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -175,7 +175,7 @@ class LinearFilter {
    * difference. 0 is the current sample, -1 is the previous sample, -2 is the
    * sample before that, etc. Don't use positive stencil points (samples from
    * the future) if the LinearFilter will be used for stream-based online
-   * filtering.
+   * filtering (e.g., taking derivative of encoder samples in real-time).
    *
    * @tparam Derivative The order of the derivative to compute.
    * @tparam Samples    The number of samples to use to compute the given