docs: private void setW( DMatrixRMaj W, DMatrixRMaj H , Vector3D_F64 a , Vector3D_F64 b ) {
  		GeometryMath_F64.mult(H,b, tempV);
  		setColumn(W,1, tempV);
  
  		GeometryMath_F64.mult(H,a, tempV);
  		setColumn(W,0, tempV);
  
  		GeometryMath_F64.crossMatrix(tempV,Hv2);
  		CommonOps_DDRM.mult(Hv2,H,tempM);
  		GeometryMath_F64.mult(tempM,b, tempV);
  		setColumn(W,2, tempV);
  	}