Until the day before reading this book, I had this misunderstanding about RESTful API/Services, a lot of services out there, claiming to be RESTful are just claiming so because they use HTTP as the communication media, while this is only the beginning, to be RESTful the application has to comply with HATEOAS, using Hypermedia As The Engine of Application State is the thing that makes a RESTful app, a RESTful app.
However, the author is exaggerating in using and/or emphasising on the use of links and relations in the book's examples, I see this as a good thing to showcase how a RESTful representation should be, but IMHO I see this as overkill. But if we take it from another angle, standardising could always be the answer to a lot of this industry's problems. Here in this case, standardisation can help the client's program (if they follow the REST Standard) to use the application and navigate through it, and any of its versions, by just knowing the rootdoc. In this case, the client's app will use the API just like any human who visiting a Website and "navigating" using hyperlinks, and any changes in the server side (resources location, objects representations, or behaviours) will not affect the clients, in this perfect world the server developers and client developers will be totally independent :) they don't even share "API documentation" because in this case the API is describing itself.