code: public static DMatrixRMaj createEssential(DMatrixRMaj R, Vector3D_F64 T, @Nullable DMatrixRMaj E)
  	{
  		if( E == null )
  			E = new DMatrixRMaj(3,3);
  
  		DMatrixRMaj T_hat = GeometryMath_F64.crossMatrix(T, null);
  		CommonOps_DDRM.mult(T_hat, R, E);
  
  		return E;
  	}
docs: <p>
  Computes an essential matrix from a rotation and translation.  This motion
  is the motion from the first camera frame into the second camera frame.  The essential
  matrix 'E' is defined as:<br>
  E = hat(T)*R<br>
  where hat(T) is the skew symmetric cross product matrix for vector T.
  </p>
  
  @param R Rotation matrix.
  @param T Translation vector.
  @param E (Output) Storage for essential matrix. 3x3 matrix
  @return Essential matrix