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URL-encode path parameters for Router.url (#116)
The main breaking change from v8.x to v9.x was an upgrade to `path-to-regex`. [That PR](#71) alluded to a breaking change in encoding. Namely, parameters were not URL-encoded: parameters with safe special characters (like spaces) were not percent-encoded, and parameters with special characters that mean something in a URL, such as slashes (path separators) and question marks (query string delimiter). The motivation for this PR is to make URL-encoding be the default since typically the parameters provided to `Router.url` are plain, unencoded values. Should someone need an escape hatch, they could pass in `{ encode: null }` (I think) to disable the automatic encoding. Updated tests and docs.
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