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I used to do this regularly, but I stopped doing it after realising that I was missing out on valuable lessons and that I only felt groggier afterwards.
Most of the time, the teachers either didn't notice or didn't really care.
I haven't slept in class yet, but sometimes, I was really close to it. When after staying up long on one day, the classroom is not being ventilated at all on the next day, and thus extremely stuffy, nothing is harder than being fully awake.
I can usually get away with sleeping in my drama class. It's just a big room with steps instead of seats, so you can get really comfortable with your backpack as a pillow. I don't think the teacher cares. :/