Is there a free Eclipse plugin that creates a UML diagram out of Java classes / packages?

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I generally use Doxygen to create documentation because it has built-in support to generate inheritance diagrams. There is an Eclipse plug-in for Doxygen called eclox. It is not longer maintained since December 1st.

Doxygen is based on Graphviz. You could directly use LightUML, which is based on Graphviz to create UML diagrams in Eclipse.

Annotate your classes with Ecore's annotations, then you can import an Ecore file from them. You can initialize an Ecore diagram from them, or export it to UML, and initialize a class diagram from it.

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