WordPress - Change Custom Post Type Permalink Structure

Avg Bid (USD)
Project Budget (USD)
$30 - $250

Project Description:
This is a Small and Simple project for someone that knows WordPress and Permalink Structures.
$20 - $40

Im using
WordPress 3.4.2
Theme: Classipress 3.1.5

The Classipress theme uses custom post types for ad listings like this. www.Sitename.com/PermalinkSlug/AdListingTitle/ Here is an actual Example: http://www.niagararents.ca/ads/welland-apartments-for-rent/

I would like the permalink structure be www.Sitename.com/AdListingTitle_PostId or like this (/%ad_listing%-%post_id%/) Here is an actual Example: http://tuffclassified.com/pouch-laminating-machine-price-in-india_177569

There are a couple of solutions and plugins that are related to this that can be used or tweaked to get the desired result.
1) Custom Post Permalinks by John P. Bloch (I have this plugin if you need files for editing)
2) Remove slug from custom post type http://wordpress.org/plugins/remove-slug-from-custom-post-type/
3) Custom Post Type Permalinks plugin http://wordpress.org/plugins/custom-post-type-permalinks/

Solution should be compatible with WordPress SEO by Yoast.
Please consider how it will affect already existing posts. (Will I need to redirect each one to the new URL?)
How will it effect the overall SEO of the site?

Please consider all the factors and offer the best solution.

This is a simple project for those that have working knowledge of WordPress and Permalinks.
Please do not bid if you have no knowledge of WP permalinks.

Additional Project Description:
05/27/2013 at 3:12 EDT
Prompt payment and Positive Feedback will be left upon accurate completion.

Skills required:
SEO, Wordpress
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