Suppress incorrect escaping? about sphinxify HOT 3 CLOSED

class SwerveDrive4PoseEstimator(SwerveDrive4PoseEstimatorBase):
    """
    This class wraps Swerve Drive Odometry to fuse latency-compensated
    vision measurements with swerve drive encoder distance measurements. It is
    intended to be a drop-in for :class:`SwerveDriveOdometry`.
    
    :meth:`update` should be called every robot loop.
    
    :meth:`addVisionMeasurement` can be called as infrequently as you want; if you
    never call it, then this class will behave as regular encoder odometry.
    
    The state-space system used internally has the following states (x) and outputs (y):
    
    :math:`x = [x, y, \theta]^T` in the field-coordinate system
    containing x position, y position, and heading.
    
    :math:`y = [x, y, \theta]^T` from vision containing x position, y
    position, and heading; or :math:`y = [theta]^T` containing gyro
    heading.
    """