Q-Guidance Algorithm

[reaper685]

Hello, this is my first post on this forum. Does anyone know of a way to implement the Q-guidance algorithm in C++?

http://en.wikipedia.org/wiki/Q-guidance

I am trying to do rocket trajectory simulations and I am using the cross product steering system. It will later be implemented in an experimental sounding rocket using a hybrid engine. The main problem is calculating the q-matrix. Does anyone have any ideas on how this algorithm can be used in C++?

The simulations will be ran on Linux.

Any help would be greatly appreciated.
Thanks.