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

Fork of BNO055_fusion by Darren Ulrich

Auto generated API documentation and code listings for BNO055_Adafruit

Classes

BNO055 Class for operating Bosch BNO055 sensor over I2C

Code

BNO055.cpp [code]
BNO055.h [code]