I have a makefile which looks like this .
DEFINES=-std=c++0x INCS_GTK=-I/usr/include/gtk-2.0 -I/usr/include/glib-2.0 -I/usr/include/atk-1.0 -I/usr/include/cairo
In Makefile , add like this
USER_LIBS = -lYARP_OS -lYARP_sig -lYARP_math -lYARP_dev -lYARP_name -lYARP_init
This will link the libraries you required