diff --git a/include/ignition/math/Pose3.hh b/include/ignition/math/Pose3.hh
index 2ac4af311..7cf43888e 100644
--- a/include/ignition/math/Pose3.hh
+++ b/include/ignition/math/Pose3.hh
@@ -258,6 +258,8 @@ namespace ignition
       }
 
       /// \brief Multiplication operator.
+      /// Given X_OP (frame P relative to O) and X_PQ (frame Q relative to P)
+      /// then X_OQ = X_OP * X_PQ (frame Q relative to O).
       /// \param[in] _pose The pose to mutlipy by.
       /// \return The resulting pose.
       public: Pose3<T> operator*(const Pose3<T> &_pose) const