diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h
index 327147b66..8a50541f5 100644
--- a/gtsam/linear/GaussianFactor.h
+++ b/gtsam/linear/GaussianFactor.h
@@ -78,7 +78,7 @@ namespace gtsam {
     }
 
     /**
-     * The factor::error simply extracts the \class VectorValues from the
+     * The Factor::error simply extracts the \class VectorValues from the
      * \class HybridValues and calculates the error.
      */
     double error(const HybridValues& c) const override {
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index c33e2b531..d046b91ce 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -98,11 +98,11 @@ public:
    * \code double evaluateError(const Values& c) const \endcode.
    */
   virtual double error(const Values& c) const {
-    throw std::runtime_error("NonlinearFactor::error::error is not implemented");
+    throw std::runtime_error("NonlinearFactor::error is not implemented");
   }
 
   /**
-   * The factor::error simply extracts the \class Values from the
+   * The Factor::error simply extracts the \class Values from the
    * \class HybridValues and calculates the error.
    */
   double error(const HybridValues& c) const override {