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Update benchmarks to help with optimal control tuning#800
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This PR updates the benchmarks to allow for more useful characterization and tuning of the
optimalmodule. The main change is to switch from using the kinematic car (vehicle) example as the basis for benchmarking to using a simpler linear system. The kinematic car was problematic because it is a marginally stable system and so the shooting method using for the optimal control computations was not numerically stable, causing lots of failures.Almost all of the changes here are in the benchmarks/ directory, with a few small changes in the main code to fix some small issues identified along the way.
Once this PR and#799 are merged, I'll add some benchmarks comparing the shooting method to collocation.