Transforms from laser_scan to odom for task 2

I am having difficulty transforming the coordinate values given by the SICK laser to valid coordinates for generating polygons, I have gone through all the tutorials and found the matlab transform from two different reference frames and was wondering if I can do this in C++? Not sure how to work with matrices at this level in C++, or would it be easier to use Simulink?

If it is easier to use simulink how does one publish multiple detection topics a cycle? In c right now I am looping / publishing and clearing the message after and publishing again giving the ability to publish multiple detections per loop.

Thanks in advance for any help