Building Codeigniter URLs with variable segments

[eluser]vikrantsharma1[/eluser]
I have searched for the solution to my problem in CI user guide but couldn't find any. So, here is my problem.

I need to build SEO friendly URLs. I have a controller called "Outlets" and the view that I need to generate will have a URL structure like http://www.mysite.com/[city_name]/[area_name]/[outlet_name].

The URL segments city and area are fields in their respective tables and outlet_name is a field in the table "Outlets".

Thanks for your help.