diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
index aed1cb7376..eaca3cffeb 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
@@ -31,13 +31,13 @@ import java.util.Optional;
  * list of all AprilTags contained within a layout. Each AprilTag serializes to a JSON object
  * containing an ID and a Pose3d. The "field" object is a descriptor of the size of the field in
  * meters with "width" and "length" values. This is to account for arbitrary field sizes when
- * mirroring the poses.
+ * transforming the poses.
  *
- * <p>Pose3ds are assumed to be measured from the blue alliance right side of the field, when the
- * blue alliance is at the left. Pose3ds will automatically be returned as passed in when calling
- * {@link AprilTagFieldLayout#getTagPose(int)}. You can call {@link #setOrigin(OriginPosition)} to
- * mirror the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be correct relative
- * to a custom frame.
+ * <p>Pose3ds are assumed to be measured from the bottom-left corner of the field, when the blue
+ * alliance is at the left. By default, Pose3ds will be returned as declared when calling {@link
+ * AprilTagFieldLayout#getTagPose(int)}. {@link #setOrigin(OriginPosition)} can be used to transform
+ * the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be correct relative to a
+ * different coordinate frame.
  */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
@@ -82,8 +82,8 @@ public class AprilTagFieldLayout {
    * Construct a new AprilTagFieldLayout from a list of {@link AprilTag} objects.
    *
    * @param apriltags List of {@link AprilTag}.
-   * @param fieldLength Length of the field in meters.
-   * @param fieldWidth Width of the field in meters.
+   * @param fieldLength Length of the field the layout is representing in meters.
+   * @param fieldWidth Width of the field the layout is representing in meters.
    */
   public AprilTagFieldLayout(List<AprilTag> apriltags, double fieldLength, double fieldWidth) {
     this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
@@ -101,23 +101,28 @@ public class AprilTagFieldLayout {
     setOrigin(OriginPosition.kBlueAllianceWallRightSide);
   }
 
+  /**
+   * Returns a List of the {@link AprilTag AprilTags} used in this layout.
+   *
+   * @return The {@link AprilTag AprilTags} used in this layout.
+   */
   @JsonProperty("tags")
   public List<AprilTag> getTags() {
     return new ArrayList<>(m_apriltags.values());
   }
 
   /**
-   * Sets the origin based on a pre-known enumeration of positions. The position is calculated from
-   * values in the configuration file.
+   * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
+   * calculated from the field dimensions.
    *
-   * <p>This changes the {@link #getTagPose(int)} method to return the correct pose for your
-   * alliance.
+   * <p>This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose
+   * relative to a predefined coordinate frame.
    *
-   * @param position The predefined position
+   * @param origin The predefined origin
    */
   @JsonIgnore
-  public void setOrigin(OriginPosition position) {
-    switch (position) {
+  public void setOrigin(OriginPosition origin) {
+    switch (origin) {
       case kBlueAllianceWallRightSide:
         setOrigin(new Pose3d());
         break;
@@ -135,8 +140,8 @@ public class AprilTagFieldLayout {
   /**
    * Sets the origin for tag pose transformation.
    *
-   * <p>This changes the {@link #getTagPose(int)} method to return the correct pose for your
-   * alliance.
+   * <p>This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose
+   * relative to the provided origin.
    *
    * @param origin The new origin for tag transformations
    */
diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
index 6ed49c63b0..22ac3ccbef 100644
--- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
@@ -42,8 +42,8 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
-void AprilTagFieldLayout::SetOrigin(OriginPosition position) {
-  switch (position) {
+void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
+  switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
       SetOrigin(Pose3d{});
       break;
diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
index aab33443ec..1fe0b2adec 100644
--- a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
+++ b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
@@ -29,13 +29,14 @@ namespace frc {
  * AprilTag serializes to a JSON object containing an ID and a Pose3d. The
  * "field" object is a descriptor of the size of the field in meters with
  * "width" and "length" values.  This is to account for arbitrary field sizes
- * when mirroring the poses.
+ * when transforming the poses.
  *
  * Pose3ds are assumed to be measured from the bottom-left corner of the field,
- * when the blue alliance is at the left. Pose3ds will automatically be returned
- * as passed in when calling GetTagPose(int).  Setting an alliance color via
- * SetAlliance(DriverStation::Alliance) will mirror the poses returned from
- * GetTagPose(int) to be correct relative to the other alliance.
+ * when the blue alliance is at the left. By default, Pose3ds will be returned
+ * as declared when calling GetTagPose(int).
+ * SetOrigin(AprilTagFieldLayout::OriginPosition) can be used to transform the
+ * poses returned by GetTagPose(int) to be correct relative to a different
+ * coordinate frame.
  */
 class WPILIB_DLLEXPORT AprilTagFieldLayout {
  public:
@@ -57,30 +58,30 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    * Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
    *
    * @param apriltags Vector of AprilTags.
-   * @param fieldLength Length of field the layout of representing.
+   * @param fieldLength Length of field the layout is representing.
    * @param fieldWidth Width of field the layout is representing.
    */
   AprilTagFieldLayout(std::vector<AprilTag> apriltags,
                       units::meter_t fieldLength, units::meter_t fieldWidth);
 
   /**
-   * Sets the origin based on a pre-known enumeration of positions. The position
-   * is calculated from values in the configuration file.
+   * Sets the origin based on a predefined enumeration of coordinate frame
+   * origins. The origins are calculated from the field dimensions.
    *
-   * This changes the GetTagPose(int) method to return the correct pose for your
-   * alliance.
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to a predefined coordinate frame.
    *
-   * @param alliance The alliance to mirror poses for.
+   * @param origin The predefined origin
    */
-  void SetOrigin(OriginPosition position);
+  void SetOrigin(OriginPosition origin);
 
   /**
    * Sets the origin for tag pose transformation.
    *
-   * This changes the GetTagPose(int) method to return the correct pose for your
-   * alliance.
+   * This tranforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to the provided origin.
    *
-   * @param alliance The alliance to mirror poses for.
+   * @param origin The new origin for tag transformations
    */
   void SetOrigin(const Pose3d& origin);
 
diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseMirroringTest.java b/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseSetOriginTest.java
similarity index 96%
rename from apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseMirroringTest.java
rename to apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseSetOriginTest.java
index e40a81fcfe..999fe8717d 100644
--- a/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseMirroringTest.java
+++ b/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseSetOriginTest.java
@@ -13,9 +13,9 @@ import edu.wpi.first.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
-class AprilTagPoseMirroringTest {
+class AprilTagPoseSetOriginTest {
   @Test
-  void poseMirroring() {
+  void transformationMatches() {
     var layout =
         new AprilTagFieldLayout(
             List.of(
diff --git a/apriltag/src/test/native/cpp/AprilTagPoseMirroringTest.cpp b/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
similarity index 94%
rename from apriltag/src/test/native/cpp/AprilTagPoseMirroringTest.cpp
rename to apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
index 6efde2b317..38496495b2 100644
--- a/apriltag/src/test/native/cpp/AprilTagPoseMirroringTest.cpp
+++ b/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
@@ -13,7 +13,7 @@
 
 using namespace frc;
 
-TEST(AprilTagPoseMirroringTest, MirroringMatches) {
+TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
   auto layout = AprilTagFieldLayout{
       std::vector<AprilTag>{
           AprilTag{1,