Robot uses a combination of its dispatchable graph and the STN of a new task when computing bids

[anenriquez]

An STN represents tasks with temporal constraints.
A dispatchable graph is a dispatchable version of the STN which bounds the original constraints to make the STN consistent.
When computing the bid for a new task, the STN should be used.
In the current version, the new task is added to the dispatchable graph but not to the STN.

Possible solution:
Store the STN
Add task to STN and compute new dispatchable graph
If the dispatchable graph is allocated to the robot, update both, the STN and the dispatchable graph.