Sharepoint - Get documents By ID from document library using Rest API

Finally i found solution, i got full file url through EncodedAbsUrl

My Document id is 6 and got full filepath from its id

var requestUri = _spPageContextInfo.webAbsoluteUrl +
             "/_api/web/lists/getByTitle('My Documents')/items?$select=EncodedAbsUrl&$filter=Id eq 6";


var requestHeaders = {
    "accept": "application/json;odata=verbose"
}

$.ajax({
    url: requestUri,
    type: 'GET',
    dataType: 'json',
    headers: requestHeaders,
    success: function (data) 
    {        
       $.each(data.d.results, function(i,result) {
            var path = result.EncodedAbsUrl;
         });

    },
    error: function ajaxError(response) {
        alert(response.status + ' ' + response.statusText);
    }
});