diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index 6e0a231ac5..074362e359 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -34,18 +34,23 @@ import java.util.function.BiConsumer;
* can be called as infrequently as you want; if you never call it then this class will behave
* exactly like regular encoder odometry.
*
- * Our state-space system is:
+ *
The state-space system used internally has the following states (x), inputs (u), and outputs
+ * (y):
*
- *
x = [[x, y, theta, dist_l, dist_r]]ᵀ in the field coordinate system (dist_*
- * are wheel distances.)
+ *
x = [x, y, theta, dist_l, dist_r]ᵀ in the field coordinate system
+ * containing x position, y position, heading, left encoder distance, and right encoder distance.
*
- *
u = [[vx, vy, omega]]ᵀ (robot-relative velocities) -- NB: using velocities
- * make things considerably easier, because it means that teams don't have to worry about getting an
- * accurate model. Basically, we suspect that it's easier for teams to get good encoder data than it
- * is for them to perform system identification well enough to get a good model.
+ *
u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity, right wheel
+ * velocity, and change in gyro heading.
*
- *
y = [[x, y, theta]]ᵀ from vision, or y = [[dist_l, dist_r, theta]]
- * from encoders and gyro.
+ *
NB: Using velocities make things considerably easier, because it means that teams don't have
+ * to worry about getting an accurate model. Basically, we suspect that it's easier for teams to get
+ * good encoder data than it is for them to perform system identification well enough to get a good
+ * model.
+ *
+ *
y = [x, y, theta]ᵀ from vision containing x position, y position, and
+ * heading; or y = [dist_l, dist_r, theta] containing left encoder position, right
+ * encoder position, and gyro heading.
*/
public class DifferentialDrivePoseEstimator {
final UnscentedKalmanFilter m_observer; // Package-private to allow for unit testing
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index 9053fb4e12..42a6adb002 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -32,14 +32,17 @@ import java.util.function.BiConsumer;
* {@link MecanumDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you
* want; if you never call it, then this class will behave mostly like regular encoder odometry.
*
- *
Our state-space system is:
+ *
The state-space system used internally has the following states (x), inputs (u), and outputs
+ * (y):
*
- *
x = [[x, y, theta]]ᵀ in the field-coordinate system.
+ *
x = [x, y, theta]ᵀ in the field coordinate system containing x position, y
+ * position, and heading.
*
- *
u = [[vx, vy, theta]]ᵀ in the field-coordinate system.
+ *
u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity, right wheel
+ * velocity, and change in gyro heading.
*
- *
y = [[x, y, theta]]ᵀ in field coords from vision, or y =
- * [[theta]]ᵀ from the gyro.
+ *
y = [x, y, theta]ᵀ from vision containing x position, y position, and
+ * heading; or y = [theta]ᵀ containing gyro heading.
*/
public class MecanumDrivePoseEstimator {
private final UnscentedKalmanFilter m_observer;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 3bb3edde5b..9e48728909 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -32,14 +32,17 @@ import java.util.function.BiConsumer;
* {@link SwerveDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you
* want; if you never call it, then this class will behave mostly like regular encoder odometry.
*
- *
Our state-space system is:
+ *
The state-space system used internally has the following states (x), inputs (u), and outputs
+ * (y):
*
- *
x = [[x, y, theta]]ᵀ in the field-coordinate system.
+ *
x = [x, y, theta]ᵀ in the field coordinate system containing x position, y
+ * position, and heading.
*
- *
u = [[vx, vy, omega]]ᵀ in the field-coordinate system.
+ *
u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity, right wheel
+ * velocity, and change in gyro heading.
*
- *
y = [[x, y, theta]]ᵀ in field coords from vision, or y =
- * [[theta]]ᵀ from the gyro.
+ *
y = [x, y, theta]ᵀ from vision containing x position, y position, and
+ * heading; or y = [theta]ᵀ containing gyro heading.
*/
public class SwerveDrivePoseEstimator {
private final UnscentedKalmanFilter m_observer;
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index 698c623833..b957c1ec79 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -31,19 +31,24 @@ namespace frc {
* AddVisionMeasurement() can be called as infrequently as you want; if you
* never call it, then this class will behave like regular encoder odometry.
*
- * Our state-space system is:
+ * The state-space system used internally has the following states (x), inputs
+ * (u), and outputs (y):
*
- * x = [[x, y, theta, dist_l, dist_r]]ᵀ in the field
- * coordinate system.
+ * x = [x, y, theta, dist_l, dist_r]ᵀ in the field coordinate
+ * system containing x position, y position, heading, left encoder distance,
+ * and right encoder distance.
*
- * u = [[d_l, d_r, dtheta]]ᵀ (robot-relative velocities) --
- * NB: using velocities make things considerably easier, because it means that
+ * u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity,
+ * right wheel velocity, and change in gyro heading.
+ *
+ * NB: Using velocities make things considerably easier, because it means that
* teams don't have to worry about getting an accurate model. Basically, we
* suspect that it's easier for teams to get good encoder data than it is for
- * them to perform system identification well enough to get a good model
+ * them to perform system identification well enough to get a good model.
*
- * y = [[x, y, theta]]ᵀ from vision,
- * or y = [[dist_l, dist_r, theta]] from encoders and gyro.
+ * y = [x, y, theta]ᵀ from vision containing x position, y
+ * position, and heading; or y = [dist_l, dist_r, theta]
+ * containing left encoder position, right encoder position, and gyro heading.
*/
class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator {
public:
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index 76a31a0bf2..93c9f1e42b 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -32,16 +32,18 @@ namespace frc {
* never call it, then this class will behave mostly like regular encoder
* odometry.
*
- * Our state-space system is:
+ * The state-space system used internally has the following states (x), inputs
+ * (u), and outputs (y):
*
- * x = [[x, y, theta]]ᵀ in the
- * field-coordinate system.
+ * x = [x, y, theta]ᵀ in the field coordinate system
+ * containing x position, y position, and heading.
*
- * u = [[vx, vy, omega]]ᵀ in the field-coordinate system.
+ * u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity,
+ * right wheel velocity, and change in gyro heading.
*
- * y = [[x, y, theta]]ᵀ in field
- * coords from vision, or y = [[theta]]ᵀ
- * from the gyro.
+ * y = [x, y, theta]ᵀ from vision containing x position, y
+ * position, and heading; or y = [theta]ᵀ containing gyro
+ * heading.
*/
class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
public:
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 81260dfa86..91e0e50dbe 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -34,15 +34,18 @@ namespace frc {
* never call it, then this class will behave mostly like regular encoder
* odometry.
*
- * Our state-space system is:
+ * The state-space system used internally has the following states (x), inputs
+ * (u), and outputs (y):
*
- * x = [[x, y, theta]]ᵀ in the
- * field-coordinate system.
+ * x = [x, y, theta]ᵀ in the field coordinate system
+ * containing x position, y position, and heading.
*
- * u = [[vx, vy, omega]]ᵀ in the field-coordinate system.
+ * u = [v_l, v_r, dtheta]ᵀ containing left wheel velocity,
+ * right wheel velocity, and change in gyro heading.
*
- * y = [[x, y, theta]]ᵀ in field coords from vision,
- * or y = [[theta]]ᵀ from the gyro.
+ * y = [x, y, theta]ᵀ from vision containing x position, y
+ * position, and heading; or y = [theta]ᵀ containing gyro
+ * heading.
*/
template
class SwerveDrivePoseEstimator {