title: How to create a page url from page uid
body: <p>I am working on a typo3 extension and I want to generate an url from the page id. Currently I create the url by appending <code>index.php?id=ID</code> to <code>$GLOBALS['TSFE']-&gt;baseURL</code>. </p>
  
  <p>Is there any other way to create a readable url from the page id, and if yes, how it can be done?</p>