Add a benchmark for RobotTrajectory creation and timing.

[marioprats]

Description

This change adds a little benchmark to measure the time that it takes to create a RobotTrajectory (which includes copy-creating the individual RobotState's and appending to the trajectory), and also the time it takes to time-parametrize trajectories with TOTG.

Output:

/build/moveit_core/trajectory_processing/robot_trajectory_benchmark  2>/dev/null
-----------------------------------------------------------------------
Benchmark                             Time             CPU   Iterations
-----------------------------------------------------------------------
RobotTrajectoryCreate/10          0.006 ms        0.006 ms       120757
RobotTrajectoryCreate/100         0.066 ms        0.066 ms        10604
RobotTrajectoryCreate/1000         1.32 ms         1.32 ms          523
RobotTrajectoryCreate/10000        18.3 ms         18.3 ms           38
RobotTrajectoryCreate/100000        209 ms          209 ms            3
RobotTrajectoryTiming/10          0.026 ms        0.026 ms        26686
RobotTrajectoryTiming/100         0.082 ms        0.082 ms         8522
RobotTrajectoryTiming/1000        0.382 ms        0.381 ms         1793
RobotTrajectoryTiming/10000        2.66 ms         2.66 ms          193
RobotTrajectoryTiming/20000        1176 ms         1176 ms            1

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (f79a070) 50.83% compared to head (d805669) 50.83%.
Report is 1 commits behind head on main.

Additional details and impacted files

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  Coverage   50.83%   50.83%           
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  Files         391      391           
  Lines       32198    32198           
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  Hits        16366    16366           
  Misses      15832    15832           

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