From e210484824886f09ab024524d16624b7d03ae9ba Mon Sep 17 00:00:00 2001
From: Paul Gesel <paul.gesel@picknik.ai>
Date: Sat, 9 Nov 2024 17:29:06 -0700
Subject: [PATCH] Update README.md

---
 README.md | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/README.md b/README.md
index c7e61a8..fa6159a 100644
--- a/README.md
+++ b/README.md
@@ -3,3 +3,23 @@
 Compile a URDF into an optimized C++ library for fast forward kinematics.
 
 Slides from CPPCon 2024 can be found [here](https://pac48.github.io/cpp-con-2024/)
+
+# Usage
+
+```cmake
+include(FetchContent)
+FetchContent_Declare(
+        fast_forward_kinematics
+        GIT_REPOSITORY https://github.com/pac48/fast_robot_kinematics.git
+        GIT_TAG main
+)
+FetchContent_MakeAvailable(fast_forward_kinematics)
+
+set(URDF_FILE ${CMAKE_SOURCE_DIR}/urdf/robot.urdf)
+set(ROOT base_link)
+set(TIP grasp_link)
+generate_fast_forward_kinematics_library(fast_forward_kinematics_library_{robots}
+                                         URDF_FILE ${URDF_FILE}
+                                         ROOT_LINK ${ROOT}
+                                         TIP_LINK ${TIP})
+```