diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index c4ed4a0cb..825389243 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -48,8 +48,9 @@ public:
   typedef Point3 Translation;
 
 private:
-  Rot3 R_;
-  Point3 t_;
+
+  Rot3 R_;   ///< Rotation gRp, between global and pose frame
+  Point3 t_; ///< Translation gTp, from global origin to pose frame origin
 
 public: