We attempt to use relatively ``lightweight'' object-oriented programming. However, unfortunately this depends on the perspective and experience. I hope that even someone without experience will be able to get the most important things done. However, some solid programming experience is most probably helpful. If you have never seen pointers or structs/classes, it is going to be hard.
Before you get desperate, maybe have a look at Sec. 4.15 to see how (relatively) easy it will be at the end.