diff --git a/gtsam/base/make_shared.h b/gtsam/base/make_shared.h
index 966dd516d..c7d98cdee 100644
--- a/gtsam/base/make_shared.h
+++ b/gtsam/base/make_shared.h
@@ -25,27 +25,31 @@
 
 #include <type_traits>
 
-#if __cplusplus <= 201103L
 namespace gtsam {
   template<bool B, class T = void>
   using enable_if_t = typename std::enable_if<B, T>::type;
 }
-#endif
 
 namespace gtsam {
 
-  /// Add our own `make_shared` as a layer of wrapping on `boost::make_shared`
+  /** Add our own `make_shared` as a layer of wrapping on `boost::make_shared`
+   * This solves the problem with the stock `make_shared` that custom alignment is not respected, causing SEGFAULTs
+   * at runtime, which is notoriously hard to debug.
+   *
+   * @tparam T The type of object being constructed
+   * @tparam Args Type of the arguments of the constructor
+   * @param args Arguments of the constructor
+   * @return The object created as a boost::shared_ptr<T>
+   */
   template<typename T, typename ... Args>
-  gtsam::enable_if_t<has_custom_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args&&... args)
-  {
-    return boost::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args> (args)...);
+  gtsam::enable_if_t<needs_eigen_aligned_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args &&... args) {
+    return boost::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args>(args)...);
   }
 
   /// Fall back to the boost version if no need for alignment
   template<typename T, typename ... Args>
-  gtsam::enable_if_t<!has_custom_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args&&... args)
-  {
-    return boost::make_shared<T>(std::forward<Args> (args)...);
+  gtsam::enable_if_t<!needs_eigen_aligned_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args &&... args) {
+    return boost::make_shared<T>(std::forward<Args>(args)...);
   }
 
 }
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index 93c475c40..a4b2fb6ea 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -233,27 +233,28 @@ namespace std {
 
 namespace gtsam {
 
+  /// Convenience void_t as we assume C++11, it will not conflict the std one in C++17 as this is in `gtsam::`
+  template<typename ...> using void_t = void;
+
   /**
-   * A trait to mark classes that need special alignment.
+   * A SFINAE trait to mark classes that need special alignment.
    * This is required to make boost::make_shared and etc respect alignment, which is essential for the Python
    * wrappers to work properly.
    */
-#if __cplusplus < 201703L
-  template<typename ...> using void_t = void;
-#endif
-
   template<typename, typename = void_t<>>
-  struct has_custom_allocator : std::false_type {
+  struct needs_eigen_aligned_allocator : std::false_type {
   };
   template<typename T>
-  struct has_custom_allocator<T, void_t<typename T::_custom_allocator_type_trait>> : std::true_type {
+  struct needs_eigen_aligned_allocator<T, void_t<typename T::_eigen_aligned_allocator_trait>> : std::true_type {
   };
 
 }
 
 /**
- * This is necessary for the Cython wrapper to work properly, and possibly reduce future misalignment problems.
+ * This marks a GTSAM object to require alignment. With this macro an object will automatically be allocated in aligned
+ * memory when one uses `gtsam::make_shared`. It reduces future misalignment problems that is hard to debug.
+ * See https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html for details
  */
 #define GTSAM_MAKE_ALIGNED_OPERATOR_NEW \
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
-  using _custom_allocator_type_trait = void;
\ No newline at end of file
+  using _eigen_aligned_allocator_trait = void;