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At first glance the SetDock class inherits from the rviz::PoseTool class so you might want to try to use rviz::PoseTool as your "base_class_type" when calling the PLUGINLIB C++ macro in your setDock.cpp file and when you specify the base_class_type tag in the plugin_description.xml file.

For example:

PLUGINLIB_EXPORT_CLASS(rviz_plugin_setDock::SetDock, rviz::PoseTool)

and

base_class_type="rviz::PoseTool">

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