Hello! I think I am the right person you are looking for. Some weeks ago I implemented Dijkstra + A* + Theta* algorithms in C++, the code is written in clean and modern C++. I now have a lot of knowledge about path finding algorithms (Dijkstra is the simplest one! :) ) and really want to help you. If you already have a codebase, I can fix, improve and provide you all the explanations needed.