How do I print from an iPad to a network attached printer on my home wifi network

I am trying to print documents (ie pdf) from my ipad to a printer that is attached to my network via ethernet cable. The printer is NOT an AirPrint type printer but I can print via wifi from my laptop to it without having to have my mac desktop turned on. Everything I have read about the apps in the app store all say I can print to any printer on my network "via a mac or PC". How do I print directly to the printer since the ipad and the printer are on the same network...

Thx for the suggestion, but it defeats the purpose by having to have my desktop computer running. I am looking for an app or hardware device that will allow me to print directly from my Ipad to my printers without having to turn on a computer to do it.
I have tried the Lantronix xprint server and while it works with my older Brother Laser it does not work with my newer Kodak ESP Office 6150 (and it doesn't look like they are even interested in attempting to write support for it into their printer list)
I have tried every app in the app store and none of them do the job WITHOUT having to have a computer running on the network.
Let me re-state the problem...
I want to print from either my Iphone 4  or my original version Ipad to my network attached printers without having to have a computer running on the network to do it. I have a Brother HL-5150D laser printer hooked to my apple airport extreme's usb port and a Kodak ESP Office 6150 connected to the network via WiFi. How can I do this.

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