Fully qualified SEO URLs, how to be allowed to use them?

[eluser]Joshua Logsdon[/eluser]
Got questions from a couple people recently. Keep in mind that solution is almost 2 years old now!

The idea was how can I get around managing routes.php config when I'm switching around lots of controllers, etc. So overriding the router may be overkill for most situations and stick to just managing routes.php like mentioned here:
http://ellislab.com/forums/viewthread/187580/#889493

In Router.php's _validate_request method, I change '-' to '_' when $segments[0] is checked. In another thread there is a good tip to do this for the set_class and set_method methods and so I got rid of changing the _set_request method with that tip.

Attached is the MY_Router I'm using in CI 2.0.2, now in \application\core\