Edit in JSFiddle

Result
JavaScript
HTML

window.load = function() {
  Loader.async = true;
  Loader.load(null, null, createUrl);
}

window.createUrl = function() {
	var startCoords = SMap.Coords.fromWGS84(14.4656166, 50.0468796);
  var destinationCoords = SMap.Coords.fromWGS84(16.5778910, 49.1891131);

  var smapUrl1 = new SMap.URL.Route().addStart(startCoords).addDestination(destinationCoords);
  document.getElementById("url1").setAttribute("href", smapUrl1.toString());
  
  var startCoords = SMap.Coords.fromWGS84(14.4656166, 50.0468796);
  var wayPointCoords = SMap.Coords.fromWGS84(14.1852272, 49.9327292);
  var destinationCoords = SMap.Coords.fromWGS84(14.1882902, 49.9389166);

  var smapUrl2 = new SMap.URL.Route().addStart(startCoords, {
  		poi: ["muni", 3468]
  }).addWaypoint(wayPointCoords, {
  		poi: ["base", 1921989],
      type: "trial",
      trialTurist: true
  }).addDestination(destinationCoords, {
  		poi: ["base", 1701792]
  });
  document.getElementById("url2").setAttribute("href", smapUrl2.toString());
}

load();

<!DOCTYPE html>
<html>
<head>
    <meta charset="utf-8" />
    <script type="text/javascript" src="https://api.mapy.cz/loader.js"></script>
</head>

<body>
    <ul>
        <li><a id="url1" href="https://mapy.cz" target="_blank">Odkaz do plánování na mapy.cz</a></li>
        <li><a id="url2" href="https://mapy.cz" target="_blank">Odkaz do plánování na mapy.cz s parametrama</a></li>
    </ul>
</body>
</html>