docs: public void decompose( DMatrixRMaj E ) {
  		if( svd.inputModified() ) {
  			E_copy.set(E);
  			E = E_copy;
  		}
  
  		if( !svd.decompose(E))
  			throw new RuntimeException("Svd some how failed");
  
  		U = svd.getU(U,false);
  		V = svd.getV(V,false);
  		S = svd.getW(S);
  
  		SingularOps_DDRM.descendingOrder(U,false,S,V,false);
  
  		decompose(U, S, V);
  	}