To be honest, relaunching the daemon without any question after a crash is probably not a good idea; well it depends greatly on the type of processing achieved by your daemon, but if for example it processes files from a given directory, or requests coming from a queue manager, and the file / message contains some unexpected data causing the crash, relaunching the daemon would make it crash again immediately (excepting when the file / message is removed no matter it has been correctly processed or not, but as well it seems not to be a good idea).
In short, it's probably better to track down the possible crash reasons and fix them when possible (or at least log the the problem and go ahead, provided that the log message would ever be scanned to warn at last a human being, so some action can be engaged upon such "failures").
Anyway if you have very good reasons to do such, a solution even simpler than "checking that the process is alive" (as it would probably in some way involve some "ps -blahblah" stuff), you could just put the java program launching in a shell "while true" loop as follows :
while true
do
# launch the java program here, no background
# when crashing, the shell will be given hand back
java -classpath blahblah...
echo "program crashed, relaunching it..."
done