An extended and revised version of this book is now available online!


The same text is available as a PDF file in three different layouts:

When reading on a computer screen, try the "two page" view in your PDF reader.

Additional Material

Lecture Slides

This book has been used in the following lecture course; see the course web pages for additional information, including lecture slides:

Source Code

The full Latex source code of the book is available on GitHub and Bitbucket.

This work is licensed under the Creative Commons Attribution–ShareAlike 3.0 Unported License.