The circuit in Figure 53 should work for you with the output set to about 13.8V as #12 suggested.
Rs is only needed if you want to limit the maximum current below the LM317 internal limit. As the battery voltage reaches 13.8V the current will reduce to whatever trickle-charge level is needed to maintain 13.8V.
The LM317 will handle the limit current as long as it's on a good heat-sink. If it does overheat it will automatically reduce the current limit value to prevent destruction of itself, but it's not good (from a reliability point of view) to operate for a long time period under such thermal limited conditions.
Note that you should add the recommended input and output capacitors to the LM317 to insure stability.
Rs is only needed if you want to limit the maximum current below the LM317 internal limit. As the battery voltage reaches 13.8V the current will reduce to whatever trickle-charge level is needed to maintain 13.8V.
The LM317 will handle the limit current as long as it's on a good heat-sink. If it does overheat it will automatically reduce the current limit value to prevent destruction of itself, but it's not good (from a reliability point of view) to operate for a long time period under such thermal limited conditions.
Note that you should add the recommended input and output capacitors to the LM317 to insure stability.