Monitoring ESXi 4.1 Host with SNMP

I have seen an a lot of posts and information refering to the configuration of SNMP for ESX 4.1 to monitor server host health. The information I have found has been somewhat confusing as to using SNMP to monitor ESXi 4.1 server host health. (See Community thread link below).

So my question is. How do you configure ESXi 4.1 for SNMP GET? And if this cannot be done how do you monitor ESXi host health with third party monitoring tools?

Thanks

http://communities.vmware.com/thread/277849?tstart=0