Updated query to reflect added ContentTypeIdentifier by @crevillo in 0cb178324a63767664dc0aed0f2ddd1ace7d1e1d in January 2013

new_way.php

<?php
use \eZ\Publish\API\Repository\Values\Content\Query;

$locationService = $this->getRepository()->getLocationService();
$searchService = $this->getRepository()->getSearchService();
$urlAliasService = $this->getRepository()->getUrlAliasService();

$root = $locationService->loadLocation( 2 );
$query = new Query();
$query->criterion = new Criterion\LogicalAND(
    array(
        new Criterion\Subtree( $root->pathString ),
        new Criterion\ContentTypeIdentifier( array( 'folder', 'page', 'contact' ) ),
        new Criterion\Visibility( Criterion\Visibility::VISIBLE )
    )
);
$query->sortClauses = array(
    new SortClause\LocationPriority( Query::SORT_DESC )
);
$results = $searchService->findContent( $query );
$items = array( );
foreach ( $results->searchHits as $hit )
{
    $location = $locationService->loadLocation(
        $hit->valueObject->contentInfo->mainLocationId
    );
    $locationUrl = $urlAliasService->reverseLookup( $location )->path;
    $items[$locationUrl] = $location;
}

foreach ( $items as $url => $location )
{
    echo "url: {$url} name: {$location->contentInfo->name}\n";
}

old_way.php

<?php
$items = eZContentObject::subTreeByNodeID(
    array(
        'ClassFilterType' => 'include',
        'ClassFilterArray' => array( 'folder', 'page', 'contact' ),
        'SortBy' => array( array( 'priority', false ) )
    ),
    2
);

foreach ( $items as $node )
{
    echo "url: {$node->attribute( 'url_alias' )} name: {$node->attribute( 'name' )}\n";
}