This is caused by an API change (and other re-organisation) of the UPM library. Their statement on API compatibility is:
Even if we try our best not to, every once in a while we are forced to modify our API in a way that will break backwards compatibility. If you find yourself unable to compile code that was working fine before a library update, make sure you check the API changes section first.
NOTE - Our C++ header files changed extension from .h to .hpp!
The last point here is the most important. The name of the header file that must be included has changed.
Specifically you need to change the second line from:
Additionally you will also have to change the flags you pass to the C++ compiler. Try:
g++ rgb_lcd_demo.cpp -o rgb_lcd_demo -g -Wall -I/usr/local/include/upm -lupm-jhd1313m1