CEDET is now part of emacs, there is not much configuration to make it work, simply add the following in your emacs config file
(require 'semantic) (semantic-mode 1)
Then to jump to a definition, put your cursor on the identifier and run
There are many more commands like finding references of identifier. It order to rapidely access them you may bind them to shortcut keys, or alternatively use Smex which will help you to run any command with a minimum number of key strokes.