pdf: http://www.ipt.ntnu.no/~stanko/files/Courses/TPG4230/2019/Lecture_notes/20190322.pdf
video: http://www.ipt.ntnu.no/~stanko/files/Courses/TPG4230/2019/Videos/20190322.mp4
pdf exercise: http://www.ipt.ntnu.no/~stanko/files/Courses/TPG4230/2019/Exercises/Set_5/