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Modifying the order of the parameters to g++ solved my problem:

g++ ikfastdemo.cpp -lstdc++ -llapack -o compute -lrt

I've edited the tutorial on the wiki accordingly.

Modifying the order of the parameters arguments to g++ solved my problem:

g++ ikfastdemo.cpp -lstdc++ -llapack -o compute -lrt

I've edited the tutorial on the wiki accordingly.