diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index ed5f4f0a01..65819c07fd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
@@ -149,7 +149,7 @@ public class Pose2d implements Interpolatable<Pose2d> {
   }
 
   /**
-   * Returns the other pose relative to the current pose.
+   * Returns the current pose relative to the given pose.
    *
    * <p>This function can often be used for trajectory tracking or pose stabilization algorithms to
    * get the error between the reference and the current pose.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
index 59c75e8fcc..d1e8131626 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
@@ -169,7 +169,7 @@ public class Pose3d implements Interpolatable<Pose3d> {
   }
 
   /**
-   * Returns the other pose relative to the current pose.
+   * Returns the current pose relative to the given pose.
    *
    * <p>This function can often be used for trajectory tracking or pose stabilization algorithms to
    * get the error between the reference and the current pose.
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.h b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
index 04fbec5b65..f992af4c7a 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
@@ -141,7 +141,7 @@ class WPILIB_DLLEXPORT Pose2d {
   constexpr Pose2d TransformBy(const Transform2d& other) const;
 
   /**
-   * Returns the other pose relative to the current pose.
+   * Returns the current pose relative to the given pose.
    *
    * This function can often be used for trajectory tracking or pose
    * stabilization algorithms to get the error between the reference and the
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose3d.h b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
index 32ac7f3ab7..ab82877e7c 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
@@ -152,7 +152,7 @@ class WPILIB_DLLEXPORT Pose3d {
   Pose3d TransformBy(const Transform3d& other) const;
 
   /**
-   * Returns the other pose relative to the current pose.
+   * Returns the current pose relative to the given pose.
    *
    * This function can often be used for trajectory tracking or pose
    * stabilization algorithms to get the error between the reference and the