[wpimath] Add Sleipnir Java bindings (#8236)

The wrapper includes reverse mode autodiff, the Problem DSL, and the
optimal control problem API. I wrote it by directly translating the
upstream
[API](https://github.com/SleipnirGroup/Sleipnir/tree/main/include/sleipnir)
and [tests](https://github.com/SleipnirGroup/Sleipnir/tree/main/test) to
Java (i.e., copy-paste-modify).

I replaced the ArmFeedforward and Ellipse2d JNIs with implementations
using the Sleipnir Java bindings. Switching dev binary JNIs to release
by default sped up wpimath test runs from several minutes to 7 seconds.

benchmark/src/main/java/wpilib/robot/Main.java

@@ -37,6 +37,13 @@ public class Main {
     new Runner(opt).run();
   }
 
+  @Benchmark
+  @BenchmarkMode(Mode.AverageTime)
+  @OutputTimeUnit(TimeUnit.MICROSECONDS)
+  public void cartPole() {
+    CartPoleBenchmark.cartPole();
+  }
+
   @Benchmark
   @BenchmarkMode(Mode.AverageTime)
   @OutputTimeUnit(TimeUnit.MICROSECONDS)