diff --git a/gtsam/linear/KalmanFilter.h b/gtsam/linear/KalmanFilter.h
index ba21eed25..5d75fd3c1 100644
--- a/gtsam/linear/KalmanFilter.h
+++ b/gtsam/linear/KalmanFilter.h
@@ -22,10 +22,13 @@
 
 #include <gtsam/linear/GaussianConditional.h>
 
-namespace gtsam { class SharedDiagonal; }
-
 namespace gtsam {
 
+	class SharedDiagonal;
+
+	/**
+	 * Linear Kalman Filter
+	 */
 	class KalmanFilter {
 	private:
 
diff --git a/gtsam/linear/SharedGaussian.h b/gtsam/linear/SharedGaussian.h
index bb9c3546c..4748efd04 100644
--- a/gtsam/linear/SharedGaussian.h
+++ b/gtsam/linear/SharedGaussian.h
@@ -11,7 +11,7 @@
 
 /**
  * @file SharedGaussian.h
- * @brief Class that wraps a shared noise model with diagonal covariance
+ * @brief Class that wraps a shared Gaussian noise model
  * @author Frank Dellaert
  * @date Jan 22, 2010
  */