Ikfastdemo Does Not Compile

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I'm attempting to create a fast inverse kinematics solver using OpenRAVE's ikfast, following the tutorial here: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution

All is well until I get to step 6. When I try to compile the demo, I get the following error message:

/tmp/cctZjKHD.o: In function `IKSolver::solvedialyticpoly12qep(double const*, double*, int&)':
ikfastdemo.cpp:(.text._ZN8IKSolver22solvedialyticpoly12qepEPKdPdRi[IKSolver::solvedialyticpoly12qep(double const*, double*, int&)]+0x296): undefined reference to `dgetrf_'
ikfastdemo.cpp:(.text._ZN8IKSolver22solvedialyticpoly12qepEPKdPdRi[IKSolver::solvedialyticpoly12qep(double const*, double*, int&)]+0x626): undefined reference to `dgetrs_'
ikfastdemo.cpp:(.text._ZN8IKSolver22solvedialyticpoly12qepEPKdPdRi[IKSolver::solvedialyticpoly12qep(double const*, double*, int&)]+0x6e8): undefined reference to `dgeev_'
collect2: ld returned 1 exit status

I'm using ROS Furte, OpenRAVE 0.8.2, and sympy 0.7.0 as in the tutorial.

Anyone have any ideas or run into similar problems?

Edit 1:

Commands entered, as reconstructed from my .bash_history and memory:

cd ~/ros/dev_stacks/cwru-ros-pkg/cwru_abby/abby_description/urdf/
rosrun collada_urdf urdf_to_collada abby.urdf abby.dae
cd ~/openRAVE #openRAVE 0.8.2 root directory
export collada_file="/home/ed/ros/dev_stacks/cwru-ros-pkg/cwru_abby/abby_description/urdf/abby.dae" #path to collada file
openrave-robot.py $collada_file --info links
python ./python/ikfast.py --robot=$collada_file --iktype=transform6d --baselink=32 --eelink=39 --savefile=output_ikfast61.cpp
wget http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp
vim ikfastdemo.cpp #Edit includes to point to correct cpp file
cp python/ikfast.h . #Copy ikfast header file into this directory
g++ -lstdc++ -llapack -o compute ikfastdemo.cpp -lrt

Edit 2:

Code can be found here:

https://gist.github.com/4662558