hmmm that library seems to use this file here. This is ~1500 lines of Pi-specific code (addresses and registers used there are Pi-specific), so it would be a giant pain to port it over to the BeagleBone. However, the number of functions used by the i2cdevlib
library is fairly small:
$ grep -o "bcm2835.*(" I2Cdev.cpp | sed "s/(//" | sort -u
bcm2835_i2c_begin
bcm2835_i2c_end
bcm2835_i2c_setSlaveAddress
bcm2835_i2c_set_baudrate
bcm2835_i2c_write
bcm2835_i2c_write_read_rs
bcm2835_init
so in principle you could port those. I can provide some guidelines here if needed.
However, I see that there is no example code for using the MPU9150 on the Pi, so you'd have to write it yourself, perhaps based on the Arduino library.
Maybe you want to explore the libraries I linked above?