Ptolemy 's Almagest, although a brilliant treatise on theoretical astronomy combined with a practical handbook for computation, nevertheless includes compromises to reconcile discordant observations with a geocentric model. Modern theoretical astronomy is usually assumed to have begun with the work of Johannes Kepler (1571–1630), particularly with Kepler's laws. The history of the descriptive and theoretical aspects of the Solar System mostly spans from the late sixteenth century to the end of the nineteenth century.