Agreed. I recently had to write a lot of digital signal processing including some things like unscented Kalman filters and other things you need a bit of stats background to digest. You don't just dump a load of linear algebra down and hope the poor maintainer can keep up! It's beneficial to explain what is going on. Just as a mathetmatics professor will talk while writing on the black board in a lecture, rather than just writing it in silence and arrogantly declaring it is complete and self documenting and walking out the door.