1 Descartes’ Discovery

2 Here and There: Points and Vectors in 2D

3 Lining Up: 2D Lines

4 Changing Shapes: Linear Maps in 2D

5 2 x 2 Linear Systems

6 Moving Things Around: Affine Maps in 2D

7 Eigen Things

8 3D Geometry

9 Linear Maps in 3D

10 Affine Maps in 3D

11 Interactions in 3D

12 Gauss for Linear Systems

13 Alternative System Solvers

14 General Linear Spaces

15 Eigen Things Revisited

16 The Singular Value Decomposition

17 Breaking It Up: Triangles

18 Putting Lines Together: Polylines and Polygons

19 Conics

20 Curves

Appendix A: Glossary

Appendix B: Selected Exercise Solutions

Bibliography

Index