diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h
index b4ca6bd8b..14440b5a2 100644
--- a/gtsam/slam/planarSLAM.h
+++ b/gtsam/slam/planarSLAM.h
@@ -31,38 +31,71 @@ namespace gtsam {
 	// Use planarSLAM namespace for specific SLAM instance
 	namespace planarSLAM {
 
-		// Keys and Values
+		/// Typedef for a PoseKey with Pose2 data and 'x' symbol
 		typedef TypedSymbol<Pose2, 'x'> PoseKey;
+
+		/// Typedef for a PointKey with Point2 data and 'l' symbol
 		typedef TypedSymbol<Point2, 'l'> PointKey;
+
+		/// Typedef for LieValues structure with PoseKey type
 		typedef LieValues<PoseKey> PoseValues;
+
+		/// Typedef for LieValues structure with PointKey type
 		typedef LieValues<PointKey> PointValues;
+
+		/// Typedef for the TupleValues2 to use PoseKeys and PointKeys
 		typedef TupleValues2<PoseValues, PointValues> Values;
 
-		// Factors
+		/**
+		 * List of typedefs for factors
+		 */
+
+		/// A hard constraint for PoseKeys to enforce particular values
 		typedef NonlinearEquality<Values, PoseKey> Constraint;
+		/// A prior factor to bias the value of a PoseKey
 		typedef PriorFactor<Values, PoseKey> Prior;
+		/// A factor between two PoseKeys set with a Pose2
 		typedef BetweenFactor<Values, PoseKey> Odometry;
+		/// A factor between a PoseKey and a PointKey to express difference in rotation (set with a Rot2)
 		typedef BearingFactor<Values, PoseKey, PointKey> Bearing;
+		/// A factor between a PoseKey and a PointKey to express distance between them (set with a double)
 		typedef RangeFactor<Values, PoseKey, PointKey> Range;
+		/// A factor between a PoseKey and a PointKey to express difference in rotation and location
 		typedef BearingRangeFactor<Values, PoseKey, PointKey> BearingRange;
 
-		// Graph
+		/// Creates a NonlinearFactorGraph with the Values type
 		struct Graph: public NonlinearFactorGraph<Values> {
+
+			/// Default constructor for a NonlinearFactorGraph
 			Graph(){}
+
+			/// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph
 			Graph(const NonlinearFactorGraph<Values>& graph);
+
+			/// Biases the value of PoseKey i with Pose2 p given a noise model
 			void addPrior(const PoseKey& i, const Pose2& p, const SharedNoiseModel& model);
+
+			/// Creates a hard constraint to enforce Pose2 p for PoseKey i's value
 			void addPoseConstraint(const PoseKey& i, const Pose2& p);
+
+			/// Creates a factor with a Pose2 between PoseKeys i and j (i.e. an odometry measurement)
 			void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,
 					const SharedNoiseModel& model);
+
+			/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in rotation
 			void addBearing(const PoseKey& i, const PointKey& j, const Rot2& z,
 					const SharedNoiseModel& model);
+
+			/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in location
 			void addRange(const PoseKey& i, const PointKey& j, double z,
 					const SharedNoiseModel& model);
+
+			/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in rotation and location
 			void addBearingRange(const PoseKey& i, const PointKey& j,
 					const Rot2& z1, double z2, const SharedNoiseModel& model);
 		};
 
-		// Optimizer
+		/// Optimizer
 		typedef NonlinearOptimizer<Graph, Values> Optimizer;
 
 	} // planarSLAM
diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h
index a00b91ff2..4f092e9f1 100644
--- a/gtsam/slam/pose2SLAM.h
+++ b/gtsam/slam/pose2SLAM.h
@@ -34,8 +34,10 @@ namespace gtsam {
 	// Use pose2SLAM namespace for specific SLAM instance
 	namespace pose2SLAM {
 
-		// Keys and Values
+		/// Keys with Pose2 and symbol 'x'
 		typedef TypedSymbol<Pose2, 'x'> Key;
+
+		/// LieValues with type 'Key'
 		typedef LieValues<Key> Values;
 
 		/**
@@ -47,33 +49,49 @@ namespace gtsam {
 		 */
 		Values circle(size_t n, double R);
 
-		// Factors
+		/// A prior factor on Key with Pose2 data type.
 		typedef PriorFactor<Values, Key> Prior;
+
+		/// A factor to put constraints between two factors.
 		typedef BetweenFactor<Values, Key> Constraint;
+
+		/// A hard constraint would enforce that the given key would have the input value in the results.
 		typedef NonlinearEquality<Values, Key> HardConstraint;
 
-		// Graph
+		/// Graph
 		struct Graph: public NonlinearFactorGraph<Values> {
+
+			/// Adds a factor between keys of the same type
 			typedef BetweenFactor<Values, Key> Constraint;
+
+			/// A simple typedef from Pose2 to Pose
 			typedef Pose2 Pose;
+
+			/// Adds a Pose2 prior with a noise model to one of the keys in the nonlinear factor graph
 			void addPrior(const Key& i, const Pose2& p, const SharedNoiseModel& model);
+
+			/// Creates a between factor between keys i and j with a noise model with Pose2 z in the graph
 			void addConstraint(const Key& i, const Key& j, const Pose2& z, const SharedNoiseModel& model);
+
+			/// Creates a hard constraint for key i with the given Pose2 p.
 			void addHardConstraint(const Key& i, const Pose2& p);
 		};
 
-		// Optimizer
+		/// The sequential optimizer
 		typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianSequentialSolver> OptimizerSequential;
-    typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianMultifrontalSolver> Optimizer;
+
+		/// The multifrontal optimizer
+		typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianMultifrontalSolver> Optimizer;
 
 	} // pose2SLAM
 
 	/**
 	 * Backwards compatibility
 	 */
-	typedef pose2SLAM::Values Pose2Values;
-	typedef pose2SLAM::Prior Pose2Prior;
-	typedef pose2SLAM::Constraint Pose2Factor;
-	typedef pose2SLAM::Graph Pose2Graph;
+	typedef pose2SLAM::Values Pose2Values;			///< Typedef for Values class for backwards compatibility
+	typedef pose2SLAM::Prior Pose2Prior;			///< Typedef for Prior class for backwards compatibility
+	typedef pose2SLAM::Constraint Pose2Factor;		///< Typedef for Constraint class for backwards compatibility
+	typedef pose2SLAM::Graph Pose2Graph;			///< Typedef for Graph class for backwards compatibility
 
 } // namespace gtsam
 
diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h
index 0125452fb..c8b615bb3 100644
--- a/gtsam/slam/pose3SLAM.h
+++ b/gtsam/slam/pose3SLAM.h
@@ -28,37 +28,45 @@
 
 namespace gtsam {
 
-	// Use pose3SLAM namespace for specific SLAM instance
+	/// Use pose3SLAM namespace for specific SLAM instance
 	namespace pose3SLAM {
 
-		// Keys and Values
+		/// Creates a Key with data Pose3 and symbol 'x'
 		typedef TypedSymbol<Pose3, 'x'> Key;
+		/// Creates a LieValues structure with type 'Key'
 		typedef LieValues<Key> Values;
 
 		/**
 		 * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
 		 * @param n number of poses
 		 * @param R radius of circle
-		 * @param c character to use for keys
 		 * @return circle of n 3D poses
 		 */
 		Values circle(size_t n, double R);
 
-		// Factors
+		/// A prior factor on Key with Pose3 data type.
 		typedef PriorFactor<Values, Key> Prior;
+		/// A factor to put constraints between two factors.
 		typedef BetweenFactor<Values, Key> Constraint;
+		/// A hard constraint would enforce that the given key would have the input value in the results.
 		typedef NonlinearEquality<Values, Key> HardConstraint;
 
-		// Graph
+		/// Graph
 		struct Graph: public NonlinearFactorGraph<Values> {
+
+			/// Adds a factor between keys of the same type
 			void addPrior(const Key& i, const Pose3& p,
 					const SharedNoiseModel& model);
+
+			/// Creates a between factor between keys i and j with a noise model with Pos3 z in the graph
 			void addConstraint(const Key& i, const Key& j, const Pose3& z,
 					const SharedNoiseModel& model);
+
+			/// Creates a hard constraint for key i with the given Pose3 p.
 			void addHardConstraint(const Key& i, const Pose3& p);
 		};
 
-		// Optimizer
+		/// Optimizer
 		typedef NonlinearOptimizer<Graph, Values> Optimizer;
 
 	} // pose3SLAM
@@ -66,10 +74,10 @@ namespace gtsam {
 	/**
 	 * Backwards compatibility
 	 */
-	typedef pose3SLAM::Values Pose3Values;
-	typedef pose3SLAM::Prior Pose3Prior;
-	typedef pose3SLAM::Constraint Pose3Factor;
-	typedef pose3SLAM::Graph Pose3Graph;
+	typedef pose3SLAM::Values Pose3Values;			///< Typedef for Values class for backwards compatibility
+	typedef pose3SLAM::Prior Pose3Prior;			///< Typedef for Prior class for backwards compatibility
+	typedef pose3SLAM::Constraint Pose3Factor;		///< Typedef for Constraint class for backwards compatibility
+	typedef pose3SLAM::Graph Pose3Graph;			///< Typedef for Graph class for backwards compatibility
 
 } // namespace gtsam