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rosen discrete mathematics balanced tree left and right child ordered rooted tree ternery tree complete m ary tree m-ary tree binary tree subtree internal vertex terminal vertex descendants ancestors siblings child parent rooted tree forest trees equivalence classes equivalence relations closures of relations digraph representations matrix reprensentations combining relations transitivity symmemtry reflexivity properties of binary relations difference between functions and relations coordinate/graph tabular matrix arrow diagram set representations representations of relations binary relation relations kuratowski's theorem euler's formula hamilton path and circuits konigsberg bridge circuits paths euler graph planar graph subgraph bipartite graph pseudo graph multigraph simple graph undirected graph directed graph finite graph infinite graph graph recurrence relation product and sum rule pigeonhole principle exclusion inclusion principle counting