You can start by installing libps3000a driver as instructed at http://www.picotech.com/linux.html
Note that you may need to restart your system, as drivers upon first install create group permissions that need to become effective in all sessions.
It will put example in /opt/picoscope/share/doc/libps3000a
Copy that folder to your home directory (or any other for your convenience), configure, compile and run as follows:
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To get more information about the api you can use the same documentation as for Windows drivers, available at http://www.picotech.com/document/pdf/ps3000abpg.en-10.pdf