pdf file: http://www.ipt.ntnu.no/~stanko/files/Courses/TPG4135/2019/Notes/20190107.pdf
video file: http://www.ipt.ntnu.no/~stanko/files/Courses/TPG4135/2019/Videos/20190107.mp4
Part of playlist:
https://www.youtube.com/playlist?list=PLXfmJjG2tXbppF1R8-8h2-J3l7Ry5gTrq