Zend_Rest_Route more complex URL's

[tier1]

It's possible to make more complex URL's using Zend Rest Route?

I'm trying to make following route: /articles/filter/:query.

Simple controller:

class ArticlesController extends Zend_Rest_Controller
    {
        public function init()
        {
            $this->getHelper('ViewRenderer')->setNoRender(true);
        }

        public function indexAction() {}

        public function getAction() {}
        public function putAction() {}
        public function postAction() {}
        public function deleteAction() {}

        public function filterAction()
        {
            $query = $this->_getParam('query');

            //search in database
        }
    }

But how can I define route for this?