New update

New update last night. Since last time, I've added a lot to the chapter on shape although it still needs a lot of work. I've also added descriptions of a bunch more algorithms and a section on notation at the beginning and done some work on the first two chapters. Most of the main content is present now - I'm planning on going back and sorting out some of the stuff on dynamic programming/belief prop next week in the light of the new graphical models chapter.