made compute jacobian and recursiveComputePosition public

include/hpp/model/joint.hh

@@ -98,6 +98,12 @@ namespace hpp {
       virtual void computePosition (ConfigurationIn_t configuration,
 				    const Transform3f& parentPosition,
 				    Transform3f& position) const = 0;
+      /// Compute position of this joint and all its descendents.
+      void recursiveComputePosition (ConfigurationIn_t configuration,
+                     const Transform3f& parentPosition) const;
+
+      /// Compute jacobian matrix of joint and all its descendents.
+      void computeJacobian ();
 
       /// Get neutral configuration of joint
       ///
@@ -298,10 +304,6 @@ namespace hpp {
       value_type maximalDistanceToParent_;
       vector_t neutralConfiguration_;
    private:
-      /// Compute position of this joint and all its descendents.
-      void recursiveComputePosition (ConfigurationIn_t configuration,
-				     const Transform3f& parentPosition) const;
-
       /// Write a block of Jacobian
       ///
       /// child: joint the motion of which is generated by the degrees of
@@ -313,7 +315,6 @@ namespace hpp {
       /// in the velocity vector, the method fills colums from index to index +
       /// this joint number of degrees of freedom.
       virtual void writeSubJacobian (const JointPtr_t& child) = 0;
-      void computeJacobian ();
       /// Compute mass of this and all descendants
       value_type computeMass ();
       /// Compute the product m * com