[benchmark] Split benchmarks into separate files (#8351)

Also add Sleipnir cart-pole benchmark from #8323.

benchmark/src/main/java/wpilib/robot/TravelingSalesmanBenchmark.java

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package wpilib.robot;
+
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.path.TravelingSalesman;
+
+public final class TravelingSalesmanBenchmark {
+  private TravelingSalesmanBenchmark() {
+    // Utility class.
+  }
+
+  private static final Pose2d[] poses = {
+    new Pose2d(-1, 1, Rotation2d.kCW_90deg),
+    new Pose2d(-1, 2, Rotation2d.kCCW_90deg),
+    new Pose2d(0, 0, Rotation2d.kZero),
+    new Pose2d(0, 3, Rotation2d.kCW_90deg),
+    new Pose2d(1, 1, Rotation2d.kCCW_90deg),
+    new Pose2d(1, 2, Rotation2d.kCCW_90deg),
+  };
+  private static final int iterations = 100;
+
+  private static final TravelingSalesman transformTraveler =
+      new TravelingSalesman(
+          (pose1, pose2) -> {
+            var transform = pose2.minus(pose1);
+            return Math.hypot(transform.getX(), transform.getY());
+          });
+  private static final TravelingSalesman twistTraveler =
+      new TravelingSalesman(
+          (pose1, pose2) -> {
+            var twist = pose2.minus(pose1).log();
+            return Math.hypot(twist.dx, twist.dy);
+          });
+
+  /** TravelingSalesman transform benchmark. */
+  public static Pose2d[] transform() {
+    return transformTraveler.solve(poses, iterations);
+  }
+
+  /** TravelingSalesman twist benchmark. */
+  public static Pose2d[] twist() {
+    return twistTraveler.solve(poses, iterations);
+  }
+}