how to get url by giving the controller name, action name and parameters?

Hi, everyone!

I know HtmlHelper::link() can generate a link whose url is generated
by an array containing controller, action and parameters
e.g.
HtmlHelper::link('book', array('controller'=>'books',
'action'=>'view', 4)) will output:
<a href=".../books/view/4">book</a>

Now I wanna get the only the url by giving the controller,action and
parameters.
getUrl(array('controller'=>'books', 'action'=>'view', 4)) --> ".../
books/view/4"
Is such API existed?

Any suggestion is appreciated.

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