diff --git a/gtsam/slam/simulated2D.h b/gtsam/slam/simulated2D.h
index e95f699f1..0442cbf9d 100644
--- a/gtsam/slam/simulated2D.h
+++ b/gtsam/slam/simulated2D.h
@@ -16,7 +16,6 @@
  */
 
 // \callgraph
-
 #pragma once
 
 #include <gtsam/geometry/Point2.h>
@@ -35,88 +34,110 @@ namespace gtsam {
 		typedef LieValues<PoseKey> PoseValues;
 		typedef LieValues<PointKey> PointValues;
 
+		/**
+		 *  Custom Values class that holds poses and points
+		 */
 		class Values: public TupleValues2<PoseValues, PointValues> {
 		public:
-			typedef TupleValues2<PoseValues, PointValues> Base;
-			typedef boost::shared_ptr<Point2> sharedPoint;
+			typedef TupleValues2<PoseValues, PointValues> Base;  ///< base class
+			typedef boost::shared_ptr<Point2> sharedPoint;  ///< shortcut to shared Point type
 
-			Values() {}
-			Values(const Base& base) : Base(base) {}
+			/// Constructor
+			Values() {
+			}
 
+			/// Copy constructor
+			Values(const Base& base) :
+					Base(base) {
+			}
+
+			/// Insert a pose
 			void insertPose(const simulated2D::PoseKey& i, const Point2& p) {
 				insert(i, p);
 			}
 
+			/// Insert a point
 			void insertPoint(const simulated2D::PointKey& j, const Point2& p) {
 				insert(j, p);
 			}
 
+			/// Number of poses
 			int nrPoses() const {
 				return this->first_.size();
 			}
 
+			/// Number of points
 			int nrPoints() const {
 				return this->second_.size();
 			}
 
+			/// Return pose i
 			sharedPoint pose(const simulated2D::PoseKey& i) {
 				return sharedPoint(new Point2((*this)[i]));
 			}
 
+			/// Return point j
 			sharedPoint point(const simulated2D::PointKey& j) {
 				return sharedPoint(new Point2((*this)[j]));
 			}
 		};
 
-		/**
-		 * Prior on a single pose, and optional derivative version
-		 */
+		/// Prior on a single pose
 		inline Point2 prior(const Point2& x) {
 			return x;
 		}
+
+		/// Prior on a single pose, optionally returns derivative
 		Point2 prior(const Point2& x, boost::optional<Matrix&> H = boost::none);
 
-		/**
-		 * odometry between two poses, and optional derivative version
-		 */
+		/// odometry between two poses
 		inline Point2 odo(const Point2& x1, const Point2& x2) {
 			return x2 - x1;
 		}
+
+		/// odometry between two poses, optionally returns derivative
 		Point2 odo(const Point2& x1, const Point2& x2, boost::optional<Matrix&> H1 =
 				boost::none, boost::optional<Matrix&> H2 = boost::none);
 
-		/**
-		 *  measurement between landmark and pose, and optional derivative version
-		 */
+		/// measurement between landmark and pose
 		inline Point2 mea(const Point2& x, const Point2& l) {
 			return l - x;
 		}
+
+		/// measurement between landmark and pose, optionally returns derivative
 		Point2 mea(const Point2& x, const Point2& l, boost::optional<Matrix&> H1 =
 				boost::none, boost::optional<Matrix&> H2 = boost::none);
 
 		/**
-		 * Unary factor encoding a soft prior on a vector
+		 *  Unary factor encoding a soft prior on a vector
 		 */
 		template<class CFG = Values, class KEY = PoseKey>
 		class GenericPrior: public NonlinearFactor1<CFG, KEY> {
 		public:
-			typedef NonlinearFactor1<CFG, KEY> Base;
+			typedef NonlinearFactor1<CFG, KEY> Base;  ///< base class
 			typedef boost::shared_ptr<GenericPrior<CFG, KEY> > shared_ptr;
-			typedef typename KEY::Value Pose;
-			Pose z_;
+			typedef typename KEY::Value Pose; ///< shortcut to Pose type
 
+			Pose z_; ///< prior mean
+
+			/// Create generic prior
 			GenericPrior(const Pose& z, const SharedNoiseModel& model, const KEY& key) :
-				NonlinearFactor1<CFG, KEY> (model, key), z_(z) {
+					NonlinearFactor1<CFG, KEY>(model, key), z_(z) {
 			}
 
+			/// Return error and optional derivative
 			Vector evaluateError(const Pose& x, boost::optional<Matrix&> H =
 					boost::none) const {
 				return (prior(x, H) - z_).vector();
 			}
 
 		private:
-			GenericPrior() {}
-			/** Serialization function */
+
+			/// Default constructor
+			GenericPrior() {
+			}
+
+			/// Serialization function
 			friend class boost::serialization::access;
 			template<class ARCHIVE>
 			void serialize(ARCHIVE & ar, const unsigned int version) {
@@ -131,24 +152,32 @@ namespace gtsam {
 		template<class CFG = Values, class KEY = PoseKey>
 		class GenericOdometry: public NonlinearFactor2<CFG, KEY, KEY> {
 		public:
-			typedef NonlinearFactor2<CFG, KEY, KEY> Base;
+			typedef NonlinearFactor2<CFG, KEY, KEY> Base; ///< base class
 			typedef boost::shared_ptr<GenericOdometry<CFG, KEY> > shared_ptr;
-			typedef typename KEY::Value Pose;
-			Pose z_;
+			typedef typename KEY::Value Pose; ///< shortcut to Pose type
 
+			Pose z_; ///< odometry measurement
+
+			/// Create odometry
 			GenericOdometry(const Pose& z, const SharedNoiseModel& model,
 					const KEY& i1, const KEY& i2) :
-				NonlinearFactor2<CFG, KEY, KEY> (model, i1, i2), z_(z) {
+					NonlinearFactor2<CFG, KEY, KEY>(model, i1, i2), z_(z) {
 			}
 
-			Vector evaluateError(const Pose& x1, const Pose& x2, boost::optional<
-					Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
+			/// Evaluate error and optionally return derivatives
+			Vector evaluateError(const Pose& x1, const Pose& x2,
+					boost::optional<Matrix&> H1 = boost::none,
+					boost::optional<Matrix&> H2 = boost::none) const {
 				return (odo(x1, x2, H1, H2) - z_).vector();
 			}
 
 		private:
-			GenericOdometry() {}
-			/** Serialization function */
+
+			/// Default constructor
+			GenericOdometry() {
+			}
+
+			/// Serialization function
 			friend class boost::serialization::access;
 			template<class ARCHIVE>
 			void serialize(ARCHIVE & ar, const unsigned int version) {
@@ -163,26 +192,33 @@ namespace gtsam {
 		template<class CFG = Values, class XKEY = PoseKey, class LKEY = PointKey>
 		class GenericMeasurement: public NonlinearFactor2<CFG, XKEY, LKEY> {
 		public:
-			typedef NonlinearFactor2<CFG, XKEY, LKEY> Base;
+			typedef NonlinearFactor2<CFG, XKEY, LKEY> Base;  ///< base class
 			typedef boost::shared_ptr<GenericMeasurement<CFG, XKEY, LKEY> > shared_ptr;
-			typedef typename XKEY::Value Pose;
-			typedef typename LKEY::Value Point;
+			typedef typename XKEY::Value Pose; ///< shortcut to Pose type
+			typedef typename LKEY::Value Point; ///< shortcut to Point type
 
-			Point z_;
+			Point z_; ///< Measurement
 
+			/// Create measurement factor
 			GenericMeasurement(const Point& z, const SharedNoiseModel& model,
 					const XKEY& i, const LKEY& j) :
-					NonlinearFactor2<CFG, XKEY, LKEY> (model, i, j), z_(z) {
+					NonlinearFactor2<CFG, XKEY, LKEY>(model, i, j), z_(z) {
 			}
 
-			Vector evaluateError(const Pose& x1, const Point& x2, boost::optional<
-					Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
+			/// Evaluate error and optionally return derivatives
+			Vector evaluateError(const Pose& x1, const Point& x2,
+					boost::optional<Matrix&> H1 = boost::none,
+					boost::optional<Matrix&> H2 = boost::none) const {
 				return (mea(x1, x2, H1, H2) - z_).vector();
 			}
 
 		private:
-			GenericMeasurement() {}
-			/** Serialization function */
+
+			/// Default constructor
+			GenericMeasurement() {
+			}
+
+			/// Serialization function
 			friend class boost::serialization::access;
 			template<class ARCHIVE>
 			void serialize(ARCHIVE & ar, const unsigned int version) {