How to get the route from controller/action ?

I want to output a menu and get the links automatically from the router.

```
Home
Contact Us
```

But I don't want to write the url in the html manually.

If I set this:
```
$router->get('/', 'Controller@home');
$router->get('/contact_us', 'Controller@contact');
```

How can I get `/` back from `Controller` class, `index` method?
How can I get `/contact_us` back from `Controller` class, `contact` method?

The issue names the router's get() registrations and Controller methods as the entry points. Read the router API around those calls first; done would be a clear answer explaining whether the registered paths can be retrieved, or what documentation change is needed.

Written by the indexing model from the issue text.