diff --git a/source/state_representation/include/state_representation/trajectory/CartesianTrajectory.hpp b/source/state_representation/include/state_representation/trajectory/CartesianTrajectory.hpp
index 43295a606..513703a2a 100644
--- a/source/state_representation/include/state_representation/trajectory/CartesianTrajectory.hpp
+++ b/source/state_representation/include/state_representation/trajectory/CartesianTrajectory.hpp
@@ -17,7 +17,7 @@ struct CartesianTrajectoryPoint : public TrajectoryPoint {
   CartesianTrajectoryPoint() = default;
 
   /**
-   * @brief Constructor with name, data, and duration
+   * @brief Constructor from Cartesian state and duration
    * @param state the Cartesian state used to initialize the trajectory point
    * @param duration the intended duration for the trajectory point 
    */
diff --git a/source/state_representation/include/state_representation/trajectory/JointTrajectory.hpp b/source/state_representation/include/state_representation/trajectory/JointTrajectory.hpp
index bf477312d..b4b747ba9 100644
--- a/source/state_representation/include/state_representation/trajectory/JointTrajectory.hpp
+++ b/source/state_representation/include/state_representation/trajectory/JointTrajectory.hpp
@@ -16,7 +16,7 @@ struct JointTrajectoryPoint : public TrajectoryPoint {
   JointTrajectoryPoint() = default;
 
   /**
-   * @brief Constructor with name, data, and duration
+   * @brief Constructor from joint state and duration
    * @param state the Joint state used to initialize the trajectory point
    * @param duration the intended duration for the trajectory point 
    */
@@ -114,7 +114,7 @@ class JointTrajectory : public TrajectoryBase<JointTrajectoryPoint> {
    * @param index the index
    * @throw std::out_of_range if index is out of range
    * @throw EmptyStateException if point is empty
-   * @throw IncompatibleStatesException if point has different robot name
+   * @throw IncompatibleStatesException if point has different joint names to the current ones
    */
   void set_point(const JointState& point, const std::chrono::nanoseconds& duration, unsigned int index);
 
@@ -124,7 +124,7 @@ class JointTrajectory : public TrajectoryBase<JointTrajectoryPoint> {
    * @param duration vector of new durations
    * @throw IncompatibleSizeException if points and durations have different sizes
    * @throw EmptyStateException if point is empty
-   * @throw IncompatibleStatesException if point has different robot name
+   * @throw IncompatibleStatesException if any of the points has different joint names to the current ones
    */
   void set_points(const std::vector<JointState>& points, const std::vector<std::chrono::nanoseconds>& durations);
 
diff --git a/source/state_representation/include/state_representation/trajectory/TrajectoryBase.hpp b/source/state_representation/include/state_representation/trajectory/TrajectoryBase.hpp
index 7a161a7e4..5cdd560de 100644
--- a/source/state_representation/include/state_representation/trajectory/TrajectoryBase.hpp
+++ b/source/state_representation/include/state_representation/trajectory/TrajectoryBase.hpp
@@ -14,7 +14,7 @@ namespace state_representation {
 
 /**
  * @class TrajectoryPoint
- * @brief Struct to represent the base characteristics of a trajectory point
+ * @brief Struct that contains the basic characteristics of a trajectory point
  */
 struct TrajectoryPoint {
   /**