Is your feature request related to a problem? Please describe.
C++ users have a constrained optimization problem solver in the form of Sleipnir, but such an API isn't exposed to Java users, our much more common demographic.

Describe the solution you'd like
A wrapper with a similar surface area to the Python API within edu.wpi.first.math.autodiff and edu.wpi.first.math.optimization would be nice. We can't make it as ergonomic as C++ because Java doesn't support operator overloading, but it's better than nothing because it provides Java users a capability they didn't have before. Kotlin users could have something nicer though because they support operator overloading and infix functions.

Describe alternatives you've considered
Java support could be added upstream, but I'm not a fan of that because Java users are extremely rare for this application outside of FRC. It makes more sense to maintain it closer to its userbase.