Tim,
10 amps is getting borderline in terms of what I'd consider good for tapping directly to the battery (as in using any more I'd definitely go straight to the battery). I've always replaced the GM OEM battery with a dual-post battery (i.e. a battery with a side and top post battery), since it gives you more options. At any rate, I think you can just use a ring terminal (like
this one, but there are many that are more basic and several dimes cheaper) between the vehicle's positive power cable (the one pictured) and the battery terminal. Depending upon the length of that screw, you may need to pick up an extension screw as well. In addition, unless you'll need a lot of power, you'll only need to bring a positive power cable from the battery to the cab of the vehicle (or wherever you're going to put the device that'll need the power), as you can just connect the negative/ground cable to a solid piece of metal in the vehicle (scratch off any paint first to get a good ground).
If you do connect straight to the battery, make sure you fuse any cable you attach to the battery as close to the battery as possible (within a couple of feet)! There are many options for in-line fuses (with different types of fuses, an example being
this one). The goal of such a fuse is to protect the cable in case any metal part of the vehicle pinches through the cable's jacket. For example, suppose you get into an accident, and the cable shorts as something from the firewall (between engine compartment and cabin) pinches it off. Without a fuse in place, tremendous current will flow from the battery, which in turn will overheat the cable and possibly lead to a fire. This is bad, obviously.
If you think you'll need more power or connections for more devices in the future, I'd suggest bringing a fused cable from the battery to a fused power distribution block in the vehicle cabin (such as
this one). That'll give you more options in the future if you think you'll need them. You'll probably only need to bring a new ground (-) cable straight from the battery if you plan on drawing a lot of power (i.e. 800+ W devices). The vehicle frame is grounded to the battery in almost all cars, but the quality of this ground can be quite poor (from low-quality welds, no care to scratch off paint to get a quality ground, etc), which is why I brought a cable from the (-) terminal of the battery to a distribution block in the vehicle cabin to provide a direct ground (-) for various devices (radios, inverter, etc).