diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 000057518..8970a3993 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -36,8 +36,7 @@ GaussianMixture::GaussianMixture(
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixture::Conditionals &
-GaussianMixture::conditionals() {
+const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
   return conditionals_;
 }
 
@@ -48,8 +47,8 @@ GaussianMixture GaussianMixture::FromConditionals(
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixture(continuousFrontals, continuousParents,
-                                    discreteParents, dt);
+  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                         dt);
 }
 
 /* *******************************************************************************/
@@ -66,8 +65,7 @@ GaussianMixture::Sum GaussianMixture::add(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum
-GaussianMixture::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -77,15 +75,14 @@ GaussianMixture::asGaussianFactorGraphTree() const {
 }
 
 /* *******************************************************************************/
-bool GaussianMixture::equals(const HybridFactor &lf,
-                                        double tol) const {
+bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   const This *e = dynamic_cast<const This *>(&lf);
   return e != nullptr && BaseFactor::equals(*e, tol);
 }
 
 /* *******************************************************************************/
 void GaussianMixture::print(const std::string &s,
-                                       const KeyFormatter &formatter) const {
+                            const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";
   if (isDiscrete()) std::cout << "Discrete ";
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index e85506715..6100b49d1 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -28,11 +28,14 @@ namespace gtsam {
 
 /**
  * @brief A conditional of gaussian mixtures indexed by discrete variables, as
- * part of a Bayes Network.
+ * part of a Bayes Network. This is the result of the elimination of a
+ * continuous variable in a hybrid scheme, such that the remaining variables are
+ * discrete+continuous.
  *
- * Represents the conditional density P(X | M, Z) where X is a continuous random
- * variable, M is the selection of discrete variables corresponding to a subset
- * of the Gaussian variables and Z is parent of this node
+ * Represents the conditional density P(X | M, Z) where X is the set of
+ * continuous random variables, M is the selection of discrete variables
+ * corresponding to a subset of the Gaussian variables and Z is parent of this
+ * node .
  *
  * The probability P(x|y,z,...) is proportional to
  * \f$ \sum_i k_i \exp - \frac{1}{2} |R_i x - (d_i - S_i y - T_i z - ...)|^2 \f$