Get all modules, controllers and actions from a Zend Framework application

Question

I want to create a Zend Controller for ACL management so my problem is: How can I get all Module names, Control names and Action names in a Zend application to build a ACL Control?

I use Zend_Navigation and if the resource don't exist in your ACL Zend_Navigation is thrown a exception. And I want to use a database to deny and allow access. So I must build the database first. And if I must do that by hand it's a pain to do that.