The thought of not feeding in front of children - mine or anyone else's - has actually never crossed my mind!
I would have been about three when my mother was breastfeeding my brother and I have a very clear memory of being in her room with her as she was feeding sitting on the bed, and asking "Can I have some?" My mum said okay, and I remember sucking on her breast tentatively. I can't remember getting any milk but I don't think I really sucked for long or hard enough. I was well and truly weaned by that stage so it was just sort of a novelty.
It's not a weird memory at all, it's quite nice. I just grew up understanding that breastfeeding was the normal way you feed babies. I never even really thought about formula, except to assume vaguely it was something you did for medical reasons or for toddlers or something, until I came on B&B.