Taylor Series
Matrix Formulation
{% f(\vec{x}) \approx f(\vec{x_0}) + \vec{g}^T (\vec{x} - \vec{x_0}) + \frac{1}{2}(\vec{x} - \vec{x_0})^T H (\vec{x} - \vec{x_0}) %}
where {% \vec{g} %} is the
gradient
and {% H %} is the
hessian.
(see
murphy pg 249)
