diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 7a7ca0cbf..2029b48e0 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -169,10 +169,10 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
       // TODO(dellaert): is this correct? If so explain here.
     } else if (auto hc = dynamic_pointer_cast<HybridConditional>(f)) {
       auto dc = hc->asDiscrete();
-      if (!dc) throwRuntimeError("continuousElimination", dc);
+      if (!dc) throwRuntimeError("discreteElimination", dc);
       dfg.push_back(hc->asDiscrete());
     } else {
-      throwRuntimeError("continuousElimination", f);
+      throwRuntimeError("discreteElimination", f);
     }
   }
 
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index 43d349b67..420efabca 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -31,8 +31,10 @@ namespace gtsam {
 
   /**
   * A GaussianConditional functions as the node in a Bayes network.
-  * It has a set of parents y,z, etc. and implements a probability density on x.
+  * It has a set of parents y,z, etc. and implements a Gaussian probability density p(x | y, z) on x.
   * The negative log-density is given by \f$ \frac{1}{2} |Rx - (d - Sy - Tz - ...)|^2 \f$
+  * The mean of the conditional density is \f$ R^{-1}(d - Sy - Tz - ...) \f$.
+  * The covariance of the conditional density is given by the noise model and is constrained to be diagonal.
   * @ingroup linear
   */
   class GTSAM_EXPORT GaussianConditional :
diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index 6a17e9ea0..4410d629c 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    NavState.h
+ * @file    NavState.cpp
  * @brief   Navigation state composing of attitude, position, and velocity
  * @author  Frank Dellaert
  * @date    July 2015
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index ad4824817..29ff2efa5 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -1,9 +1,9 @@
 # Install headers
 file(GLOB nonlinear_headers "*.h")
-install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
+install(FILES ${nonlinear_headers} DESTINATION "include/gtsam/nonlinear")
 
 file(GLOB nonlinear_headers_internal "internal/*.h")
-install(FILES ${nonlinear_headers_internal} DESTINATION include/gtsam/nonlinear/internal)
+install(FILES ${nonlinear_headers_internal} DESTINATION "include/gtsam/nonlinear/internal")
 
 # Build tests
 add_subdirectory(tests)