diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/ArmFeedforwardJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/ArmFeedforwardJNI.java
index 22796cf246..b72c7539f7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/ArmFeedforwardJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/ArmFeedforwardJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** ArmFeedforward JNI. */
-public final class ArmFeedforwardJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class ArmFeedforwardJNI extends WPIMathJNI {
   /**
    * Obtain a feedforward voltage from a single jointed arm feedforward object.
    *
@@ -62,32 +31,6 @@ public final class ArmFeedforwardJNI {
       double nextVelocity,
       double dt);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private ArmFeedforwardJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
index 8dcdf0e72a..644250f611 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** DARE JNI. */
-public final class DAREJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class DAREJNI extends WPIMathJNI {
   /**
    * Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation.
    *
@@ -202,32 +171,6 @@ public final class DAREJNI {
       int inputs,
       double[] S);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private DAREJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/EigenJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/EigenJNI.java
index ba7f2478d1..1a673ed86c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/EigenJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/EigenJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** Eigen JNI. */
-public final class EigenJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class EigenJNI extends WPIMathJNI {
   /**
    * Computes the matrix exp.
    *
@@ -83,32 +52,6 @@ public final class EigenJNI {
   public static native void solveFullPivHouseholderQr(
       double[] A, int Arows, int Acols, double[] B, int Brows, int Bcols, double[] dst);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private EigenJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java
index e9a5c87067..984ca50401 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** Ellipse2d JNI. */
-public final class Ellipse2dJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class Ellipse2dJNI extends WPIMathJNI {
   /**
    * Returns the nearest point that is contained within the ellipse.
    *
@@ -61,32 +30,6 @@ public final class Ellipse2dJNI {
       double pointY,
       double[] nearestPoint);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private Ellipse2dJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/Pose3dJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/Pose3dJNI.java
index a642eaa3a9..f32d58e0b1 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/Pose3dJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/Pose3dJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** Pose3d JNI. */
-public final class Pose3dJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class Pose3dJNI extends WPIMathJNI {
   /**
    * Obtain a Pose3d from a (constant curvature) velocity.
    *
@@ -109,32 +78,6 @@ public final class Pose3dJNI {
       double endQy,
       double endQz);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private Pose3dJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/StateSpaceUtilJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/StateSpaceUtilJNI.java
index 9ee02b6c4c..b590e4ce15 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/StateSpaceUtilJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/StateSpaceUtilJNI.java
@@ -4,39 +4,8 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
 /** StateSpaceUtil JNI. */
-public final class StateSpaceUtilJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class StateSpaceUtilJNI extends WPIMathJNI {
   /**
    * Returns true if (A, B) is a stabilizable pair.
    *
@@ -52,32 +21,6 @@ public final class StateSpaceUtilJNI {
    */
   public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private StateSpaceUtilJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/TrajectoryUtilJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/TrajectoryUtilJNI.java
index 935b0c958b..7b27240cb3 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/TrajectoryUtilJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/TrajectoryUtilJNI.java
@@ -4,39 +4,10 @@
 
 package edu.wpi.first.math.jni;
 
-import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
 
 /** TrajectoryUtil JNI. */
-public final class TrajectoryUtilJNI {
-  static boolean libraryLoaded = false;
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("wpimathjni");
-      } catch (Exception ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException If the library could not be loaded or found.
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    RuntimeLoader.loadLibrary("wpimathjni");
-    libraryLoaded = true;
-  }
-
+public final class TrajectoryUtilJNI extends WPIMathJNI {
   /**
    * Loads a Pathweaver JSON.
    *
@@ -71,32 +42,6 @@ public final class TrajectoryUtilJNI {
    */
   public static native String serializeTrajectory(double[] elements);
 
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
   /** Utility class. */
   private TrajectoryUtilJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java
new file mode 100644
index 0000000000..8b16e7a189
--- /dev/null
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java
@@ -0,0 +1,68 @@
+// 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 edu.wpi.first.math.jni;
+
+import edu.wpi.first.util.RuntimeLoader;
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/** Base class for all WPIMath JNI wrappers. */
+public class WPIMathJNI {
+  private static boolean libraryLoaded = false;
+
+  /** Sets whether JNI should be loaded in the static block. */
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+
+    /** Utility class. */
+    private Helper() {}
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        RuntimeLoader.loadLibrary("wpimathjni");
+      } catch (Exception ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if the library load failed
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary("wpimathjni");
+    libraryLoaded = true;
+  }
+
+  /** Utility class. */
+  protected WPIMathJNI() {}
+}