Handle inline tags that span multiple lines

[virtuald]

Used to work, but it's broken now:

$ sphinxify
/**
 * Constructs a control-affine plant inversion model-based feedforward from
 * given model dynamics.
 *
 * If given the vector valued function as f(x, u) where x is the state
 * vector and u is the input vector, the B matrix(continuous input matrix)
 * is calculated through a NumericalJacobian. In this case f has to be
 * control-affine (of the form f(x) + Bu).
 *
 * The feedforward is calculated as
 * <strong> u_ff = B<sup>+</sup> (rDot - f(x)) </strong>, where <strong>
 * B<sup>+</sup> </strong> is the pseudoinverse of B.
 *
 * This feedforward does not account for a dynamic B matrix, B is either
 * determined or supplied when the feedforward is created and remains constant.
 *
 * For more on the underlying math, read
 * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
 */

        """Constructs a control-affine plant inversion model-based feedforward from
        given model dynamics.

        If given the vector valued function as f(x, u) where x is the state
        vector and u is the input vector, the B matrix(continuous input matrix)
        is calculated through a NumericalJacobian. In this case f has to be
        control-affine (of the form f(x) + Bu).

        The feedforward is calculated as
        ** u_ff = B<sup>+</sup> (rDot - f(x)) **, where **
        B<sup>+</sup> ** is the pseudoinverse of B.

        This feedforward does not account for a dynamic B matrix, B is either
        determined or supplied when the feedforward is created and remains constant.

        For more on the underlying math, read
        https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
        """
...

docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_1_1:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_2_1:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_2_2:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_1_1:3: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_2_1:3: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_2_2:3: WARNING: Inline strong start-string without end-string.

[auscompgeek]

The problem here is that the <strong> spans multiple lines. I'm not sure how easily we can fix this.

[auscompgeek]

So there are :strong: and :emphasis: roles, and roles can span multiple lines, so doable. IMO RobotPy should use :math: roles where appropriate though.

I'll handle sub and sup tags as well.

[auscompgeek]

Hmm. How do you nest bold and superscript in rST?

[auscompgeek]

https://docutils.sourceforge.io/FAQ.html#is-nested-inline-markup-possible

… that is definitely not nice. I'm just not going to handle nesting.

We could probably do with a way to warn about this from robotpy-build, but, uh, future work?