I'd drop those files in a folder called /yada and then use an url-pattern of /yada/*.
If you don't want to do that, then hand-determining it in a filter is indeed the only resort.
Update: as per your update, you actually have a second question which wasn't directly obvious from your initial question: "How to declare a JSP file as a servlet?". The answer is: use <jsp-file> instead of <servlet-class>.
<servlet>
    <servlet-name>foo.jsp</servlet-name>
    <jsp-file>/foo.jsp</jsp-file>
</servlet>
<servlet-mapping>
    <servlet-name>foo.jsp</servlet-name>
    <url-pattern>/foo/*</url-pattern>
</servlet-mapping>
Nevertheless, as stated in the comments, this is not the best practice. This smells to raw Java code in a JSP file which you should avoid to all extent.