I watched a video with xcode 3, that shows a button "Design" that displays a UML diagram, but I can't find how to do it with xcode 4.
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You can use yEd ... not the best solution and does not generate graphs as OmniGraffle can do but at least it can export in SVG and use GraphML files to store the data. (and it is fee)
http://www.yworks.com/en/products_yed_helpresources.html
This may help you but I didn't personally tested,
https://developer.apple.com/legacy/library/documentation/DeveloperTools/Conceptual/XCodeDesignTools/XCodeDesignTools.pdf
I was looking for a quick fix to the same problem as the OP here, but the solution that helped me most - generate a diagram from my existing XCode project that will show the operations in every class I select - was to use my still existing installation of XCode 3.
Remarks: 1. It's not real UML but it's still good to get/keep an overview. 2. You can export a diagram to PDF using the print-to-PDF feature available in most Mac OS X applications. 3. If you upgraded from XCode 3.2.6 to 4.x by upgrading Snow Leopard to Lion like me, you'll find your XCode 3 installation at /Developer-3.2.6/Applications/Xcode.app.
Try Omnigraffle This has templates for UML diagrams.
If you drop an Xcode4 project file onto its dock icon, it will generate a UML diagram from that.
What it doesn't do is generate code from diagrams.
Search for "Xcode Design Tools" in Help. That will show you a tutorial that will walk you through creating a diagram.
EDIT >>>
It looks like the instructions are actually for XCode 3 and that UML Modeling was removed from XCode 4. The only modeling I could find in XCode 4 is Data Modeling: File>New>New File... and then look under 'Core Data'.
Class Modeling alternatives for Objective C
You might also want to check out Doxygen.
Visual Paradigm can generate uml from objective c and back (haven't tried it yet, can't tell how well it does the job).