Yes, you do. You can read the full story in our documentation for setting up Iridize with a Single Page Application (SPA).
The good news is that when using AngularJS's $route or the oft-used ui-router this can be readily done using route or state change events.
The way Iridize should be notified when a route/state is changed is by calling the api.route.update Iridize JS API call.
When using the AngularJS's $route for view routing you can bind on the $routeChangeSuccess event. When using ui-router you can bind on the analogous $stateChangeSuccess event. Both events provide the new route/state which can be passed to the api.route.update call.