How can I verify linked libraries?

How can I verify linked libraries?

I am having lots of trouble getting a specific set of drivers working,
called libnifalcon.
I am pretty sure that the installation was successful, but when I try to
compile the example programs I get the errors:
mars@marslab:~/Documents/libnifalcon-1.0/examples/findfalcons$ g++
findfalcons.cpp
/tmp/cc8TtfGn.o: In function `runFalconTest()':
findfalcons.cpp:(.text+0x6b): undefined reference to
`libnifalcon::FalconDevice::FalconDevice()'
findfalcons.cpp:(.text+0xdd): undefined reference to
`libnifalcon::FalconDevice::getDeviceCount(unsigned int&)'
findfalcons.cpp:(.text+0x1bd): undefined reference to
`libnifalcon::FalconDevice::open(unsigned int)'
findfalcons.cpp:(.text+0x224): undefined reference to
`libnifalcon::FalconDevice::isFirmwareLoaded()'
findfalcons.cpp:(.text+0x2ac): undefined reference to
`libnifalcon::FalconFirmware::loadFirmware(bool, unsigned int const&,
unsigned char*)'
findfalcons.cpp:(.text+0x33b): undefined reference to
`libnifalcon::FalconDevice::isFirmwareLoaded()'
findfalcons.cpp:(.text+0x3dd): undefined reference to
`libnifalcon::FalconDevice::runIOLoop(unsigned int)'
findfalcons.cpp:(.text+0x504): undefined reference to
`libnifalcon::FalconDevice::runIOLoop(unsigned int)'
findfalcons.cpp:(.text+0x512): undefined reference to
`libnifalcon::FalconDevice::close()'
findfalcons.cpp:(.text+0x52b): undefined reference to
`libnifalcon::FalconDevice::~FalconDevice()'
findfalcons.cpp:(.text+0x53f): undefined reference to
`libnifalcon::FalconDevice::~FalconDevice()'
/tmp/cc8TtfGn.o: In function `void
libnifalcon::FalconDevice::setFalconFirmware<libnifalcon::FalconFirmwareNovintSDK>()':
findfalcons.cpp:(.text._ZN11libnifalcon12FalconDevice17setFalconFirmwareINS_23FalconFirmwareNovintSDKEEEvv[void
libnifalcon::FalconDevice::setFalconFirmware<libnifalcon::FalconFirmwareNovintSDK>()]+0x1d):
undefined reference to
`libnifalcon::FalconFirmwareNovintSDK::FalconFirmwareNovintSDK()'
collect2: ld returned 1 exit status
How can I verify the libraries are linked correctly? What can I do if they
aren't?