This is a draft manuscript
While in the past it was more common to make preprints, algorithms andsoftware freely available, authors have become more protective of theirwork. I do not know whether this is a reﬂection of the increased com-petition for recognition or the pressure to commercialise research results.By making these notes available I hope to receive information about errors,misconceptions, missing references or acknowledgment, and suggestions toimprove the text. In the modern world of publishing one also feels a needto clarify that the author makes no warranty of any kind, expressed orimplied, with regard to programs, algorithms, theoretical concepts, or thedocumentation contained in this manuscript. The author shall not be liablein any event for incidental or consequential damages in connection with, orarising out of, the use of the material provided here.