Found this library on Github and so far it is as complete as the Arduino Adafruit library.

Fork of BNO055_fusion by Darren Ulrich

Major bugs

Revision:
4:9e6fead1e93e
Parent:
3:0ad6f85b178f
Child:
5:eae056708af1
--- a/BNO055.h	Fri Apr 10 11:18:12 2015 +0000
+++ b/BNO055.h	Thu Apr 16 10:47:40 2015 +0000
@@ -7,7 +7,7 @@
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: March     30th, 2015
- *      Revised: April     10th, 2015
+ *      Revised: April     16th, 2015
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
  * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE