Now Arduino IDE for Linux ARM Preview is provided in Arduino - Software - HOURLY BUILDS. You can install on Raspberry Pi.
This video show how to install Arduino IDE for Linux ARM (1.6.9 currently) on Raspberry Pi 3/Raspbian Jessie.
Insert Arduino UNO to Raspberry Pi, run and program UNO. No more setting needed:)
Intel Curie Boards for Arduino/Genuino 101 is not supported currently!
~ Re-tried again on Raspberry Pi 3 with Raspbian Jessie with PIXEL (2017-04-10 release).