When does Bob deserve to be a co-author?

I have recently been reading Bill Gasarch's post about when Alice deserves to be a co-author. This is definitely a sensitive issue; just check the number of ANONYMOUS comments. I have recently found some advice that is more oriented towards faculty-student type of collaborations, but is perhaps also suitable in general. Check this link. Interestingly, it was a document written by Department of City and Regional Planning, University of Berkeley ...