Note
The headings in the table of contents do not always match the headings in the text. The subsections do not have their own heading, but refer to the page where the discussion of this topic starts.
The mistakes mentioned in the erratum list on page viii have all been incorporated in the text and are underlined with a grey line. Other corrections are underlined with a dotted line. The original text appears when the cursor is hovered over the marked text. A list of corrections to the text can be found at the end of the document.