diff --git a/src/constraint_block_absolute.h b/src/constraint_block_absolute.h
index 1e901f10451a858d219a7fc39a7e3eb64c73f06a..e3def4493f0444ada07ed097e737610e5459671b 100644
--- a/src/constraint_block_absolute.h
+++ b/src/constraint_block_absolute.h
@@ -35,8 +35,15 @@ class ConstraintBlockAbsolute : public ConstraintAnalytic
          * \param _start_idx (default=-1) the size of the state segment that is constrained, -1 = all the
          *
          */
-        ConstraintBlockAbsolute(StateBlockPtr _sb_ptr, unsigned int _start_idx = 0, int _size = -1, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
-            ConstraintAnalytic("BLOCK ABS", _apply_loss_function, _status, _sb_ptr),
+        ConstraintBlockAbsolute(StateBlockPtr _sb_ptr,
+                                unsigned int _start_idx = 0,
+                                int _size = -1,
+                                bool _apply_loss_function = false,
+                                ConstraintStatus _status = CTR_ACTIVE) :
+            ConstraintAnalytic("BLOCK ABS",
+                               _apply_loss_function,
+                               _status,
+                               _sb_ptr),
             sb_size_(_sb_ptr->getSize()),
             sb_constrained_start_(_start_idx),
             sb_constrained_size_(_size == -1 ? sb_size_ : _size)
diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp
index 19818dffcc1aee098c316f1b13bf603703333c39..5041ae985c60770b0c8124f753bcc802574f88ee 100644
--- a/src/processor_odom_2D.cpp
+++ b/src/processor_odom_2D.cpp
@@ -21,7 +21,7 @@ void ProcessorOdom2D::computeCurrentDelta(const Eigen::VectorXs& _data, const Ei
     assert(_data_cov.rows() == data_size_ && "Wrong _data_cov size");
     assert(_data_cov.cols() == data_size_ && "Wrong _data_cov size");
 
-    // data  is [dtheta, dr]
+    // data  is [dr, dtheta]
     // delta is [dx, dy, dtheta]
     // motion model is 1/2 turn + straight + 1/2 turn
     _delta(0) = cos(_data(1) / 2) * _data(0);