I found help in this thread: Stack Overflow - Inheritance in R.
See an adapted code example below:
setClass("A", representation(a="numeric"), "VIRTUAL")
setClass("B", representation(b="numeric"), contains="A")
setMethod("initialize", "A", function(.Object,..., a=numeric()){
.Object@a <- data[1]
callNextMethod(.Object, ..., a=a)
})
setMethod("initialize", "B", function(.Object,..., b=numeric()){
.Object@b <- data[2]
callNextMethod(.Object, ..., b=b)
})
data <- as.numeric(1:2)
new("B",a=data[1],b=data[2])
> An object of class "B"
> Slot "b":
> [1] 2
> Slot "a":
> [1] 1