Rot3 failures

I'm including some modules of GTSAM v4.0.0 in another repository, but I'm unable to build anything that under-the-hood uses Rot3. That is, anywhere a constructor tries to initialize Rot3 I get an error like,

In function `gtsam::Rot3::identity()':
my_test.cpp:(.text._ZN5gtsam4Rot38identityEv[_ZN5gtsam4Rot38identityEv]+0x14): undefined reference to `gtsam::Rot3::Rot3()'

Other Rot3 initializations fail too:

In function `gtsam::Rot3::Quaternion(double, double, double, double)':
my_test.cpp:(.text._ZN5gtsam4Rot310QuaternionEdddd[_ZN5gtsam4Rot310QuaternionEdddd]+0x5d): undefined reference to `gtsam::Rot3::Rot3(Eigen::Quaternion<double, 2> const&)'

I can include the header gtsam/geometry/Rot3.h, but this does not help, nor can I init a Rot3 object.

Running a GTSAM test that uses Rot3, e.g. testGaussianFactorGraphB, passes.

I'm on Ubuntu 16.04, with the following build settings:

-- ================  Configuration Options  ======================
--   CMAKE_CXX_COMPILER_ID type     : GNU
--   CMAKE_CXX_COMPILER_VERSION     : 5.4.0
-- Build flags                                               
--   Build Tests                    : Enabled
--   Build examples with 'make all' : Enabled
--   Build timing scripts with 'make all': Disabled
--   Build static GTSAM library instead of shared: Disabled
--   Put build type in library name : Enabled
--   Build libgtsam_unstable        : Enabled
--   Build type                     : Release
--   C compilation flags            :  -std=c11   -Wall -O3 -DNDEBUG    -O3 -DNDEBUG
--   C++ compilation flags          :  -std=c++11 -Wall -O3 -DNDEBUG    -O3 -DNDEBUG
--   Use System Eigen               : No
--   Use Intel TBB                  : Yes
--   Eigen will use MKL             : MKL not found
--   Eigen will use MKL and OpenMP  : OpenMP found but MKL not found
--   Default allocator              : TBB
-- Packaging flags                                               
--   CPack Source Generator         : TGZ
--   CPack Generator                : TGZ
-- GTSAM flags                                               
--   Quaternions as default Rot3     : Disabled
--   Runtime consistency checking    : Disabled
--   Rot3 retract is full ExpMap     : Disabled
--   Pose3 retract is full ExpMap    : Disabled
--   Deprecated in GTSAM 4 allowed   : Enabled
--   Point3 is typedef to Vector3    : Disabled
--   Metis-based Nested Dissection   : Enabled
--   Use tangent-space preintegration: Enabled
-- MATLAB toolbox flags                                      
--   Install matlab toolbox         : Disabled
--   Build Wrap                     : Enabled
-- Python module flags                                       
--   Build python module            : Disabled
-- ===============================================================

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