door actuators to viper 1002

Ok, please be kind. Im a newb here. I have installed several stereo systems before, but this is my first time dealing with an alarm.

I have done some research and I have gotten conflicting info, I figured I would come here to get a definite answer. I have an 01 Tacoma 2WD base model. No power locks or power windows. It has a Viper 1002 installed with horn honk, glass break sensor and a hood pin. I would like to ad power locks to my truck, I dont want any switches in the truck, I just want the doors to lock/unlock with my arm/disarm button on my Viper 1002 key fob. I have the 1002 Installation instructions and on page 9 it says, "This system has door lock relays on-board, and can directly interface with most electric power door lock systems drawing 30 amps or less".  Does this mean I can just run wires directly from the alarm to the actautors? Or do I need to wire in two relays as stated in the relay tech section? 

Thanks for any help.

Great thanks, but I have some questions about the diagram D. 

1) On the lock/unlock normally open (input) the diagram says I need to have a 12 volt  positive input, do I tap off from a 12 volt battery source for this?

2) Lock #30 common, and Unlock #30 (output) has it going to the green and blue of the actuator motor. Do I run these connections to both actuators individually?