Resolve pipe character in URI

[tjrbrom]

Fixes

A short description of what this PR does.

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[tjrbrom]

Suggest using URLEncoder.encode() instead replace() to get other illegal characters.

It seems that com.twilio.jwt.validation.RequestCanonicalizer class does the needed work of encoding and replacing characters, although we cannot access it in com.twilio.http.Request cause it's not public...

[eshanholtz]

Hi @tjrbrom

After reviewing your PR, I went ahead and implemented a fix to handle all instances of path parameter encodings. I'm closing this PR in favor of #558

Thanks!