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This book was not written by Joseph Gwilt. In fact, it has no attributed author, its preface clearly stating it was a copy of an ancient manuscript created in 1308-1314 and compiled into an orderly fashion by the editor of this tome, Nicholas H. Nicholas, who dedicated it to Joseph Gwilt.
Apart from that minor mis-attribution, this is an extremely valuable reference to anyone doing research on early heraldry, and is especially helpful with families or titles which have since gone extinct.
Although it contains only descriptions of the arms, you can type that description into your search engine and it will very often bring back an image of what the coat of arms would have looked like. There are also a number of online heraldry sites (and I don't mean the type offering a framed print of your family crest), which will explain the colors, devices, etc. used in heraldry--all of which can add an entirely new dimension to your genealogical work.
Used with Burke's "General Armory of England, Scotland, Ireland, and Wales," and you have a gold mine of information!