code: public void init() {
  		N = getParameterLength();
  		jacR = new DMatrixRMaj[N];
  		for (int i = 0; i < N; i++) {
  			jacR[i] = new DMatrixRMaj(3,3);
  		}
  		jacobian = new DMatrixRMaj(N,9);
  		paramInternal = new double[N];
  		numericalJac = createNumericalAlgorithm(function);
  	}
docs: Initializes data structures. Separate function to make it easier to extend the class