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The only thing I found confusing about the charts is that I thought there was supposed to be a warmup and then a warmup set for each exercise. Other people here have said they only do a warmup and then a warmup set for the first exercise, then continue on with the workout as written.
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How you do warm-ups is really up to you. I don't see much purpose in doing one or more warm-up sets when the work sets are 15 reps, but you can certainly do them if you want.
For lower-rep sets, using heavier weights, I always do warm-up sets. But I don't list them on my workout charts along with the work sets -- it just clutters things up.
However, in an earlier book -- The Book of Muscle, which I wrote with Ian King -- we prescribed warm-up sets and put them into the workout charts.
But for the two NROL books, I don't think Alwyn and I ever considered doing it that way.