Convert and Modify a C++ code to Matlab code

Hi freelancer, I need a matlab code written for D* Lite algorithm. The algorithm and C++ code are available. Algorithm: Figure 4 of this paper --> [login to view URL] C++ code: [login to view URL] I want the output of the algorithm to display in an interactive plot just like [login to view URL] Basically, the algorithm is a path search algorithm like A* search. If you have worked on any kinds of graph search algorithm before, please mention that in your PMB. The matlab code has to be well documented with comments in every line. I need the work done by tomorrow Tuesday (12/4/2011)