diff --git a/CMakeLists.txt b/CMakeLists.txt
index d99e2480..f9464c1e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.12)
 
-project(aris VERSION 2.3.9.230818 DESCRIPTION "")
+project(aris VERSION 2.3.10.24080121 DESCRIPTION "use in A18")
 
 # version
 configure_file(${PROJECT_SOURCE_DIR}/config/aris_version.h.in aris_version.h)
diff --git a/include/aris/dynamic/math_matrix.hpp b/include/aris/dynamic/math_matrix.hpp
index 34523f41..a2cd9d60 100644
--- a/include/aris/dynamic/math_matrix.hpp
+++ b/include/aris/dynamic/math_matrix.hpp
@@ -3197,7 +3197,6 @@ namespace aris::dynamic{
 	//    y : y
 	//    z : z
 	//    p : 4 维向量， p1 x + p2 y + p3 z + p4 = 0，其中 p1 p2 p3 为单位向量
-	// tau2 : max(n,m) x 1
 	auto inline s_interp_plane(Size n, const double *x, const double *y, const double *z, double *plane_func)->void {
 		double avg_x{ 0.0 }, avg_y{ 0.0 }, avg_z{ 0.0 };
 
diff --git a/include/aris/dynamic/math_optimization.hpp b/include/aris/dynamic/math_optimization.hpp
index 11cf0201..47fd1b54 100644
--- a/include/aris/dynamic/math_optimization.hpp
+++ b/include/aris/dynamic/math_optimization.hpp
@@ -20,6 +20,16 @@ namespace aris::dynamic {
 
 	using CostFunc = std::function<int(const double *param, const double *x, double *residual)>;
 
+	//
+	// 
+	// observe_size : 观测次数
+	//       x_size : 单次观测的数据维度
+	//       r_size : 单次观测的残差维度
+	//   param_size : 需要优化的参数维度
+	//    cost_func : 计算残差的函数
+	//            x : 测试数据，大小为 x_size * observe_size
+	//   init_param : 需要优化的参数初值，大小为 param_size
+	//        param : 优化结果，大小为 param_size
 	struct OptimizationParam {
 		Size observe_size, x_size, r_size, param_size;
 		CostFunc cost_func;