For any $x,y \in S$ we have $$f(y)=f(x) + \nabla f(x)^T(y-x) + \frac{1}{2}(y-x)^T\nabla^2f(z)(y-x) $$
for some $z$ on the line segment $[x,y].$
I don't see why this should be true, other than that it 'feels' right. Is there a simple proof? Also, I'm not sure if the title is most appropriate, so feel free to edit it.