Sure. I've always thought the hardest problem with automated extraction like that is deciding what public methods to include in the diagram. Unless you're lucky enough to have classes with particularly small interfaces, some of the class nodes end up looking like skyscrapers.
I had a .e file for just doing class relationships, where the arrow points to the subclasses that I've hacked up to pull methods and generate something close enough to what you posted to be a starting point. I can only guarantee that it probably won't set your computer on fire. I've attached the .e file. Load it from the command line, and then if you run the "graph_classes" command, it will make a graph of all of the classes in the currently open project.