Why do I get linker errors when I build a CMake project using Drake, but I can clearly see the symbols?

I have followed the Installation and Quickstart instructions, and am writing a CMake project to use Drake.

I'm looking at a unittest that builds in Drake, run it, and it builds, runs, and passes. However, when I try to use some of that functionality in my CMake project, I get a linker error, such as:

undefined reference to `RigidBodyTree<double>::get_position_name(int) const'

If I look at symbols in the Drake shared library (e.g. nm -C or objdump -TC with grep), I see the signature RigidBodyTree<double>::get_position_name[abi:cxx11](int). However, if I look in the produced object code (which causes the linking to fail), I see RigidBodyTree<double>::get_position_name(int).

(Note: This post is a means to migrate from http://drake.mit.edu/faq.html to StackOverflow for user-based questions.)