[eluser]BrianDHall[/eluser]
Sort of yes, sort of no. I guess it would be considered 'non-trivial'.
You would need to build a function that would go through all the files in the controllers folder and look through them, and be sure to use the nomenclature of the sort that if a function begins with _ then it isn't really a page.
Out of the box CI only accesses the one requested controller and function called for by your routing.
I believe this topic is considered 'reflection' for the controller that is loaded, and class/function navigating for the files not loaded. I have intentionally avoided any need to do anything like this as it is a bit of a can of worms, so I can't offer much advice further.
It's one of those 'fun' sorts of projects though like building a REST server in PHP - plenty of people do it, its just I generally find it a lot of work without much bang for the buck.
You might check on code or class navigation in PHP to see some ways to go about it.