trying to access matlab from c++ using header

I'm trying to compile a c++ program which contains Matlab's provided engine header. File MLP.cpp contains:

#include <engine.h>
#include <stdlib.h>
#include <iostream>
#include <string>
using namespace std;

And references the matlab functions highlighted in the errors below. When running:

g++ -c MLP.cpp -I/usr/local/matlab/extern/include -L/usr/local/matlab/extern/lib -llibeng -llibmx -lmatlab
g++ MLP.o -o main

I get the following errors:

MLP.o: In function `MatLabPredictor::MatLabPredictor(char*)': 

MLP.cpp:(.text+0x18): undefined reference to `engOpen'

MLP.cpp:(.text+0x36): undefined reference to `engEvalString'

MLP.cpp:(.text+0x4a): undefined reference to `engEvalString'

MLP.cpp:(.text+0x5e): undefined reference to `mxCreateDoubleMatrix'

MLP.cpp:(.text+0x79): undefined reference to `mxGetPr'

MLP.o: In function `MatLabPredictor::~MatLabPredictor()':

MLP.cpp:(.text+0xa1): undefined reference to `engClose'

MLP.o: In function `MatLabPredictor::retrain(double)':

MLP.cpp:(.text+0x104): undefined reference to `engPutVariable'

MLP.cpp:(.text+0x118): undefined reference to `engEvalString'

MLP.cpp:(.text+0x12c): undefined reference to `engEvalString'

MLP.cpp:(.text+0x140): undefined reference to `engEvalString'

MLP.o: In function `MatLabPredictor::predict_next_value()':

MLP.cpp:(.text+0x162): undefined reference to `engEvalString'

MLP.cpp:(.text+0x176): undefined reference to `engGetVariable'

MLP.cpp:(.text+0x186): undefined reference to `mxGetData'

MLP.cpp:(.text+0x199): undefined reference to `mxDestroyArray'
collect2: ld returned 1 exit status

I have also tried changing the compilation commands to:

g++ -c MLP.cpp -I/usr/local/matlab/extern/include -L/usr/local/matlab/bin/glnxa64 -llibeng -llibmx -lmatlab
g++ MLP.o -o main