code: @Override
  	public void computeHessian(DMatrixRMaj jacLeft , DMatrixRMaj jacRight) {
  		A.reshape(jacLeft.numCols,jacLeft.numCols);
  		B.reshape(jacLeft.numCols,jacRight.numCols);
  		D.reshape(jacRight.numCols,jacRight.numCols);
  
  		// take advantage of the inner product's symmetry when possible to reduce
  		// the number of calculations
  		MatrixMultProduct_DDRM.inner_reorder_lower(jacLeft,A);
  		CommonOps_DDRM.symmLowerToFull(A);
  		CommonOps_DDRM.multTransA(jacLeft,jacRight,B);
  		MatrixMultProduct_DDRM.inner_reorder_lower(jacRight,D);
  		CommonOps_DDRM.symmLowerToFull(D);
  	}
docs: Compuets the Hessian in block form
  @param jacLeft (Input) Left side of Jacobian
  @param jacRight (Input) Right side of Jacobian