I skimmed the section, I did not read it. (That's a bit much to ask of folks on a free knowledge sharing site). It is not necessary that the function be undefined.
Places (points) where a function is discontinuous occur because either the function is not defined there, or it is but we cannot force our function to stay as close as we want to the y-value by restricting the x value to a small enough zone.
This can fail in several ways, only a few of them have special names to my knowledge. The first is removable discontinuity: This is a function who has a well defined limit at that point, but isn't defined at that point. In other words, there's a hole that we could just fill in the graph to make it continuous. Example:
$$f(x)=\frac{x-2} {x^2-4}$$
note it is not defined at $x=2$, but everywhere $x\neq 2$ we can factor the bottom into $(x-2)(x+2)$, so for every point OTHER than $x=2$, $f$ is identical to the graph of
$$f(x)=\frac 1 {x+2}$$
Thus, it would have a removable discontinuity at 2, that we could remove by defining an extension of $f$ to include $2$ in the domain, with the output the limit value, here $f(2)=\frac 1 4$
A second named kind of limit is called a "jump discontinuity." This occurs when we have a function have one-sided limits approaching the point, but the two don't agree, so the function suddenly jumps. There's no way to remove this.
For example, we could have the function that on $x\leq 0$, $f(x)=-1$ but for $f(x)\geq 0$, $f(x)=1$ (This is just the sgn function that gives the sgn of a function, though also defined at 0 whereas that point is undefined in the actual sgn function). Here at 0 we have a "jump".
Other ways of failing are when one or both sides grow with out bound, like $\frac 1 x$ does near $0$. Finally, a function can oscillate wildly approaching a point, so that no matter how small you zoom in near the x value you can't get the $y$ value to settle down to stay near a point. The classic example here is $$\sin (\frac 1 x)$$
Note that as $x\to 0$, $\frac 1 x$ grows wildly. Since $\sin$ is $2\pi$ periodic, this means that in ANY small neighborhood around 0, the function will take on all outputs of $\sin$, namely $[-1,1]$ and thus never settle down.