Member jspace::Model::computeJacobian (taoDNode const *node, double gx, double gy, double gz, Eigen::MatrixXd &jacobian) const: Implement support for more than one joint per node, and more than one DOF per joint.
Member jspace::Model::getJointName (size_t id) const: A joint can have any number of DOF, which means there should be a way to get at them individually, but currently we only support exactly one 1-DOF joints per node.
Member jspace::Model::getNodeByJointName (std::string const &name) const: Add support for registering aliases, just as for getNodeByName().
Member jspace::Model::getNodeByName (std::string const &name) const: Add support for registering aliases, such as "end-effector" or "End_Effector", which might correspond to "right-gripper" or so depending on the robot.