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Plan nesting and plan library #5

@devis12

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@devis12

Plan can contains sub-plans within it (requires non-trivial revision of the current design).

Add a plan to the plan library when computed, so that it can be reused later without the intervention of the planner if conditions apply (of course this starts to make more sense at lower plan levels).

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    BDI ReasoningImprove separation of concerns in BDI reasoning flow, taking inspiration from RT-BDI worksenhancementNew feature or request

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