'An excellent introduction to the subject, suitable for learners and lecturers alike. The authors strike a perfect balance between clear prose and clean mathematical style and provide plenty of examples, exercises and intuitive diagrams. The choice of material stands out as well: covering the essentials and including interesting further topics without cluttering. This wonderful book again reminded me of the beauty of this topic!' Karsten Fritzsch, Gottfried Wilhelm Leibniz Universität Hannover, Germany
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