add benchmarks & initial profiling

[arnaucube]

• add IVC benchmarks for Nova, HyperNova, ProtoGalaxy
  • reusing same benchmarks code between the different schemes, where for each scheme we only have to add the code setting the configuration (ie. curves used, number of constraints, etc)
• add benchmarks compilation to the GitHub CI, without running them (to ensure that they compile, without spending the time to run them in the CI)

Note: (not fixing the rust-toolchain version & clippy issues at this PR, since it is being fixed at #172, so once #172 is merged to main, will rebase this (#177) PR to latest main including the fixes)