If you have the Monitoring plugin installed in your Jenkins server, then the "/monitoring?part=heaphisto" page will display the same thing to guess the cause of increasing memory usage, and it will offer to take a heap dump for you.

The "/monitoring?part=heaphisto&format=pdf" will give you the same data as pdf.

OK, that's not the same as recording heap histograms over time.
But, you could also use the groovy plugin in a periodic job, to execute the following script and record heap histogram for each execution of your job:
https://wiki.jenkins-ci.org/display/JENKINS/Monitoring+Scripts#MonitoringScripts-Displayheaphistogram%28objectinstancesperclass%29

(sorry for groovy)

Code changed in jenkins
User: Emilio Escobar
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapHisto.java
http://jenkins-ci.org/commit/support-core-plugin/6e0769a119ea7746efc4da4d33b337f3fdf6eff8
Log:
JENKINS-22791 Added heap histogram generation component

Code changed in jenkins
User: Emilio Escobar
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapHisto.java
http://jenkins-ci.org/commit/support-core-plugin/cfd0268183c7cac25acecb84b8a98a219c55561d
Log:
JENKINS-22791 ;

Code changed in jenkins
User: Emilio Escobar
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapHisto.java
http://jenkins-ci.org/commit/support-core-plugin/d940fd12dd8bbbe73e2308d0e7c05ad28e0d8f28
Log:
JENKINS-22791 The file should be truncated to the first 200 entries, not 500.

Code changed in jenkins
User: Emilio Escobar
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapUsageHistogram.java
http://jenkins-ci.org/commit/support-core-plugin/42fae57ec6092aa0a822f38feb3b19cbe9d213b9
Log:
JENKINS-22791 cache is no longer used

Code changed in jenkins
User: Emilio Escobar
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapUsageHistogram.java
http://jenkins-ci.org/commit/support-core-plugin/256310135ad3ecd237f0ce2ccf82a84e84f4473a
Log:
JENKINS-22791 removed unused parameter and redundant line

Code changed in jenkins
User: Steven Christou
Path:
src/main/java/com/cloudbees/jenkins/support/impl/HeapUsageHistogram.java
http://jenkins-ci.org/commit/support-core-plugin/ea8b5b929a0cd7196f70018e8ae3e1e5845809d1
Log:
Merge pull request #119 from escoem/JENKINS-22791

JENKINS-22791 Record heap histograms

Compare: https://github.com/jenkinsci/support-core-plugin/compare/6cb4198b778a...ea8b5b929a0c

PR has been merged and the feature will be probably included with support-core-plugin:2.42