[wpimath] Give infeasible trajectory constraints a better exception message (#5492)

Fixes #3146.

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java

@@ -271,11 +271,7 @@ public final class TrajectoryParameterizer {
       if (minMaxAccel.minAccelerationMetersPerSecondSq
           > minMaxAccel.maxAccelerationMetersPerSecondSq) {
         throw new TrajectoryGenerationException(
-            "The constraint's min acceleration "
-                + "was greater than its max acceleration.\n Offending Constraint: "
-                + constraint.getClass().getName()
-                + "\n If the offending constraint was packaged with WPILib, please file a bug"
-                + " report.");
+            "Infeasible trajectory constraint: " + constraint.getClass().getName() + "\n");
       }
 
       state.minAccelerationMetersPerSecondSq =

wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp

@@ -223,10 +223,9 @@ void TrajectoryParameterizer::EnforceAccelerationLimits(
 
     if (minMaxAccel.minAcceleration > minMaxAccel.maxAcceleration) {
       throw std::runtime_error(
-          "The constraint's min acceleration was greater than its max "
-          "acceleration. To debug this, remove all constraints from the config "
-          "and add each one individually. If the offending constraint was "
-          "packaged with WPILib, please file a bug report.");
+          "There was an infeasible trajectory constraint. To determine which "
+          "one, remove all constraints from the TrajectoryConfig and add them "
+          "back one-by-one.");
     }
 
     state->minAcceleration = units::math::max(