Add build instructions; bump CI dependencies

.github/workflows/test.yml

@@ -10,14 +10,14 @@ jobs:
   tests:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2.4.0
-    - uses: cachix/install-nix-action@v15
+    - uses: actions/checkout@v3
+    - uses: cachix/install-nix-action@v20
       with:
         nix_path: nixpkgs=channel:nixos-unstable
-    - uses: cachix/cachix-action@v10
+    - uses: cachix/cachix-action@v12
       with:
         name: github-public
         authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
     - run: >
         git config --global url."https://github.com/".insteadOf ssh://git@github.com/
-    - run: export NIXPKGS_ALLOW_UNFREE=1 && nix-build -E 'with (import (fetchTarball "https://github.com/goromal/anixpkgs/archive/refs/tags/v0.5.0.tar.gz") {}); signals-cpp.override { pkg-src = lib.cleanSource ./.; }'
+    - run: export NIXPKGS_ALLOW_UNFREE=1 && nix-build -E 'with (import (fetchTarball "https://github.com/goromal/anixpkgs/archive/refs/heads/master.tar.gz") {}); signals-cpp.override { pkg-src = lib.cleanSource ./.; }'

README.md

@@ -6,6 +6,23 @@ Header-only templated C++ library implementing rigid-body dynamics, derivatives,
 
 **Under construction**
 
+## Building / Installing
+
+This library is built with CMake. Most recently tested with the following dependencies:
+
+- Eigen 3.4.0
+- [manif-geom-cpp](https://github.com/goromal/manif-geom-cpp)
+- Boost 1.79.0 (for unit test framework)
+
+```bash
+mkdir build
+cd build
+cmake ..
+make # or make install
+```
+
+By default, building will build and run the unit tests, but this can be turned off with the CMake option BUILD_TESTS.
+
 ## Implemented Types
 
 ### Signal Types