You cannot invoke directly a specific function in a a model or a view.
But any public methods without parameters in the controller will be invoked with
yoursite/index.php?option=com_yourcomponent&task=yourpublicmethod.
This will trigger the specified method and render it within Joomla template, with all relevant modules etc.
If you only want the main component output, add to the call
&tmpl=component
which renders through the template's component.php instead of index.php, usually the former only loads the external resources (css and js) and the main component output.
Else if the function returns code (either html xml or json) you may want to invoke it with
&format=raw
which returns just the bare output of yourpublicmethod. This can also be achieved at the component level with the instruction
exit;
at the end of the implementation of yourpublicmethod