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As pointed out in the comments by @berak the correct include and class name are cv::xfeatures2d::SURF, and #include "opencv2/xfeatures2d.hpp".

I believe my installation had problems because I was using opencv-3.0.0-beta with opencv_contrib (master branch). Recompiling and installing opencv-3.0.0-beta with opencv_contrib-3.0.0-beta seems to have resolved the issue.

As pointed out in the comments by @berak the correct include and class name are cv::xfeatures2d::SURF, and #include "opencv2/xfeatures2d.hpp".. So use for example:

cv::Ptr<cv::xfeatures2d::SURF> surf = cv::xfeatures2d::SURF::create(400);