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Support For DRF 3.15 nested SimpleRouter.use_regex_path = False #355

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This PR is to address the following issue:
#342

In order to properly use use_regex_path=False for the simple router you must have DRF 3.15+. If the kwarg is passed and an earlier version of DRF is used it should simply TypeError due to the unexpected kwarg . If this requires a read-me update for notes around Requirements & Compatibility let me know what you would like to see there and I can add it.

The changes are the same as suggested in #342 and are explained in more detail there. The changes are essentially changing how we pre-pend the parent url when use_regex_path=False, allowing it to correctly nest the routes. I also added a unit test validating the changes.

Please let me know if you have any concerns or questions!

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