A unified and systematic treatment of the main results and techniques of relativistic fluid dynamics with an emphasis on waves and shock waves. The first four chapters provide an introduction to the fundamental principles of relativistic fluid dynamics and magneto-fluids. The remaining chapters present specific topics, including non-linear electromagnetic waves in relativistic cold plasmas, relativistic asymptotic waves, and relativistic shock waves. Examples of the applications of the theory to plasma physics, nuclear physics and astrophysics are presented.