To generate a menu at first need to choose a renderer implementing \Menu\RenderInterface (only \Menu\HtmlRenderer exists yet). Then to invoke it to \Menu\MenuGenerator and to call generateFromInput($config). Config should be in the following format, level of nesting is not bounded:

array(
	'title' => '',
	'url' => '',
	'children' => array(
	    array(
	        'title' => '',
            'url' => '',
	    ),
	    array(
	        'title' => '',
            'url' => '',
            'children' => array(...),
	    ),
	),
);

Here is a class for generating test config \Menu\InputGenerator.

Run unit tests with the command

php tests/phpunit.phar --bootstrap autoloader.php --colors=always tests