Pretty URLs for Code igniter

[admin]

I want to know whether it is possible to write pretty URLs in Code igniter or not?
I mean i have a code igniter project in which i am displaying data from uri segments like this:

<a href="http://myproj.local/category/subcategory/64/239" rel="nofollow">http://myproj.local/category/subcategory/64/239</a>

where 64 is the id of my category (e.g Garden Products )and 239 is my subcategory id (e.g Brushes).

Is there anyway I could write URLs like this in code igniter:

For categories:

<a href="http://myproj.local/Garden" rel="nofollow">http://myproj.local/Garden</a> Products/

<a href="http://myproj.local/Household" rel="nofollow">http://myproj.local/Household</a> Range/

and for subcategories:

<a href="http://myproj.local/Garden" rel="nofollow">http://myproj.local/Garden</a> Products/Brushes/

<a href="http://myproj.local/Household" rel="nofollow">http://myproj.local/Household</a> Range/Buckets/

Just like wordpress or other CMS.

<strong>IN SHORT,I WANT MY CODE IGNITER MVC framework TO DISPLAY URLs /Pages like these:</strong>

<a href="http://myproj.local/Garden" rel="nofollow">http://myproj.local/Garden</a> Products/Brushes/

<a href="http://myproj.local/Household" rel="nofollow">http://myproj.local/Household</a> Range/Buckets/

Is this the kind of thing that can be achieved in the Code igniter or not??
IF YES, then how can I do this and how can i write this in code igniter ??What approach shall i use to achieve this ? I would appreciate if you could help me in this regard.Thanks