Itô formula for semimartingales with jumps

For a semimartingale with càdlàg paths $X$ and $f\in C^2$, the Itô formula uses the left-limit gradient in $\int f^{\prime }(X_{s-})d{X}_s$, the continuous quadratic variation in its second-order integral, and the jump correction ${\sum }_{s\le t}[f(X_s)-f(X_{s-})-f^{\prime }(X_{s-})\Delta X_s]$. In several dimensions use the corresponding gradient, Hessian and continuous bracket matrix. The correction is the part of each jump not captured by first-order linearization.