Collecting custom application metrics from docker containers

Is there a way to collect custom metrics (e.g. a /metrics endpoint serving metrics in Prometheus format) from docker containers? I'm currently running https://github.com/SumoLogic/sumologic-collector-docker but I can't seem to find a way to instruct it to collect metrics

https://help.sumologic.com/03Send-Data/Sources/01Sources-for-Installed-Collectors

Do I have to resort to using hosted collectors https://help.sumologic.com/03Send-Data/Sources/02Sources-for-Hosted-Collectors/HTTP-Source/Upload-Metrics-to-an-HTTP-Source