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This book by two of the foremost researchers and writers in the field is the first part of a treatise that will cover the subject in breadth and depth, paying special attention to the historical origins, partly in applications, e.g. from geometrical optics, of parts of the theory. A variety of aids to the reader are provided: the detailed table of contents, an introduction to each chapter, section and subsection, plus the references in the Scholia to each chapter, in the (historical) footnotes, and in the biblio- graphy, and finally an index of the examples used throughout the book.