I tried the link you gave and other such posts...but something is wrong in my code...
In global.asax file i have added following line
routes.Add("Restaurant", new Route("Restaurant/{id}/{area}/{type}", new WebFormRouteHandler("~/RestaurantMenu.aspx")));
I have also added helper classes form the demo code.
My Url looks like below which i want to Rewrite/Route
RestaurantMenu.aspx?Restaurant=2&Area=Pimpri&dType=Home%20Delivery