See Inline::CPP, perlxstut, perlembed.
The docs, for all the Inline modules I've looked at, are clear.
Phil
SWIG is another option, but I've never personally (directly) used it. It allows wrapping a library from several different languages with the same SWIG interface code (so you do the SWIG part once and get a Perl interface, a Python interface, a TCL interface, . . .). If you might want to interface from multiple languages then definately take a look at SWIG, otherwise Inline::Cpp is probably going to be the easiest route.
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