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Based on those ouput formats, I'm guessing that you don't just want to export the point cloud data (XYZ vertices), but want to first fit a surface to the points. Some of the formats you listed don't support a file consisting of only vertices, but require some concept of surface triangles.

If so, your problem includes not just file-export, but also a mesh-triangulation step.

If you'd like to do this step interactively, you could try using MeshLab. This open-source tool provides basic tools for manipulating point clouds and surfaces, and allows export to STL and DXF formats. A brief tutorial for creating a surface from point cloud data is shown here or here. More sophisticated tools exist for converting and manipulating mesh data, but these are generally proprietary and cost a significant amount of money.

If you want to do this programmatically, I suggest you use PCL. Here is a tutorial for creating meshes from point cloud data in PCL. You may have to write a custom function to import your file data into a PointCloud object, but PCL supports export to STL. If you decide to go this route, you may get better help by asking the PCL Mailing List directly.