diff --git a/include/manif/impl/sgal3/SGal3Tangent_base.h b/include/manif/impl/sgal3/SGal3Tangent_base.h
index d33b211a..ad705827 100644
--- a/include/manif/impl/sgal3/SGal3Tangent_base.h
+++ b/include/manif/impl/sgal3/SGal3Tangent_base.h
@@ -90,7 +90,7 @@ struct SGal3TangentBase : TangentBase<_Derived> {
 
   // SGal3Tangent specific API
 
-  //! @brief Get the linear velocity part.
+  //! @brief Get the linear translation part.
   LinBlock lin();
   const ConstLinBlock lin() const;
 
@@ -98,7 +98,7 @@ struct SGal3TangentBase : TangentBase<_Derived> {
   AngBlock ang();
   const ConstAngBlock ang() const;
 
-  //! @brief Get the linear acceleration part
+  //! @brief Get the linear velocity part
   LinBlock lin2();
   const ConstLinBlock lin2() const;
 
@@ -118,18 +118,6 @@ struct SGal3TangentBase : TangentBase<_Derived> {
     Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>> E,
     const Eigen::Map<const SO3Tangent<Scalar>>& so3
   );
-
-  // static void fillL(
-  //   Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>> E,
-  //   const Eigen::Map<const SO3Tangent<Scalar>>& so3
-  // );
-
-  // static void fillS(
-    // Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>> S,
-    // const Eigen::Map<const SO3Tangent<Scalar>>& so3,
-    // linearVel,
-    // t
-  // );
 };
 
 template <typename _Derived>
diff --git a/include/manif/impl/sgal3/SGal3_base.h b/include/manif/impl/sgal3/SGal3_base.h
index a5a06f3c..62553996 100644
--- a/include/manif/impl/sgal3/SGal3_base.h
+++ b/include/manif/impl/sgal3/SGal3_base.h
@@ -92,14 +92,14 @@ struct SGal3Base : LieGroupBase<_Derived> {
 
   /**
    * @brief Get the action
-   * @param[in] v A 3D point.
+   * @param[in] p A 3D point.
    * @param[out] -optional- J_vout_m The Jacobian of the new object wrt this.
    * @param[out] -optional- J_vout_v The Jacobian of the new object wrt input object.
    */
   template <typename _EigenDerived>
   Eigen::Matrix<Scalar, 3, 1>
   act(
-    const Eigen::MatrixBase<_EigenDerived> &v,
+    const Eigen::MatrixBase<_EigenDerived> &p,
     tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_vout_m = {},
     tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v = {}
   ) const;
@@ -324,18 +324,18 @@ template <typename _Derived>
 template <typename _EigenDerived>
 Eigen::Matrix<typename SGal3Base<_Derived>::Scalar, 3, 1>
 SGal3Base<_Derived>::act(
-  const Eigen::MatrixBase<_EigenDerived> &v,
+  const Eigen::MatrixBase<_EigenDerived> &p,
   tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_vout_m,
   tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v
 ) const {
-  assert_vector_dim(v, 3);
+  assert_vector_dim(p, 3);
 
   const Rotation R(rotation());
 
   if (J_vout_m) {
     J_vout_m->template topLeftCorner<3, 3>() = R;
     J_vout_m->template block<3, 3>(0, 3).setZero();
-    J_vout_m->template block<3, 3>(0, 6).noalias() = -R * skew(v);
+    J_vout_m->template block<3, 3>(0, 6).noalias() = -R * skew(p);
     J_vout_m->template topRightCorner<3, 1>() = linearVelocity();
   }
 
@@ -343,7 +343,7 @@ SGal3Base<_Derived>::act(
     (*J_vout_v) = R;
   }
 
-  return translation() + R * v;
+  return translation() + R * p;
 }