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This is not a ROS question, but a C++ one. To be able to call an instance of the class B in your callback, the class TestROSNode needs to own an instance of the class B:

class TestROSNode{
private:
    ros::Subscriber ik_sub;
    B my_b;
    void point_callback(const geometry_msgs::Point::ConstPtr& msg){
       my_b.dosomething(msg.x):
    }
}

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