Raw is the best. Just stay away from Pork! I notice a lot of dogs dont digest raw veggies so rather then cooking them away to nothing but pointlessness I and others like to puree them. I actually for the most part substitute veggies for soft fruits anyway.
I also find that when looking at books that do pertain to cooking it really is miss-informative on whats good and bad in general. Lots of good stuff gets left out of the mix.