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I want am developing a component for joomla 3+. I am using database to get the categories in the menu and manually creating the link like mentioned below.

// Creating the manual link
$linkThingsToDo = JRoute::_('index.php?option=com_mycom&view=city&layout=thingstodo&cid[]='.$cityID.'&cat_id[]='.$value->catid);

Here I am using the "cid[]" for City ID and cat_id[] for Category ID and I am getting the link in address bar like this:

joomla/index.php/city-guide-3/city/thingstodo?cid[0]=2&cat_id[0]=4

While I want "joomla/index.php/city-guide-3/city_name_here/category_name_here"

"joomla/index.php/city-guide-3/Dubai/Chocolate"

using localhost for the testing. What should I do to achieve the above SEF URL

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