diff --git a/dlib/filtering/kalman_filter.h b/dlib/filtering/kalman_filter.h
index 7de414fbc..a6961942e 100644
--- a/dlib/filtering/kalman_filter.h
+++ b/dlib/filtering/kalman_filter.h
@@ -36,9 +36,11 @@ namespace dlib
         void set_process_noise     ( const matrix<double,states,states>& Q_) { Q = Q_; }
         void set_measurement_noise ( const matrix<double,measurements,measurements>& R_) { R = R_; }
         void set_estimation_error_covariance( const matrix<double,states,states>& P_) { P = P_; }
-        void set_state             ( const matrix<double,states,1>& xb_) {
+        void set_state             ( const matrix<double,states,1>& xb_) 
+        {
             xb = xb_;
-            if (!got_first_meas) {
+            if (!got_first_meas) 
+            {
                 x = xb_;
                 got_first_meas = true;
             }
diff --git a/dlib/filtering/kalman_filter_abstract.h b/dlib/filtering/kalman_filter_abstract.h
index a2eae3422..0b87047e2 100644
--- a/dlib/filtering/kalman_filter_abstract.h
+++ b/dlib/filtering/kalman_filter_abstract.h
@@ -98,11 +98,11 @@ namespace dlib
         ); 
         /*!
             ensures
+                - This function can be used when the initial state is known, or if the
+                  state needs to be corrected before the next update().
                 - #get_predicted_next_state() == xb
-                - If update() is never called with a measurement
-                  #get_current_state() == get_predicted_next_state()
-            (Can be used when the initial state is known, or if the state needs to be corrected
-            before the next update())
+                - If (update() hasn't been called yet) then 
+                    - #get_current_state() == xb 
         !*/
 
         const matrix<double,measurements,states>& get_observation_model (