Install ctags (not the Emacs version): http://ctags.sourceforge.net/
In /usr/include type:
ctags -f ~/.vim/stdtags -R --c++-kinds=+p --fields=+iaS --extra=+q .
Add the following to ~/.vimrc:
set nocp
filetype plugin on
map <C-L> :!ctags -R --c++-kinds=+p --fields=+iaS --extra=+q .<CR><CR>
set tags=~/.vim/stdtags,tags,.tags,../tags
autocmd InsertLeave * if pumvisible() == 0|pclose|endif
The final line closes the completion box when you leave insert mode. Ctrl-L will update the tags (and so let you autocomplete based on new files) files in the current directory. Thanks go to the various places on the interwebs I robs this info from.
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