Generate sitemap with #ZF2

gistfile1.php

<?php
        $sm = $e->getApplication()->getServiceManager();
        $routes = $sm->get('config')['router']['routes'];
        echo '<ul>' . $this->parseRoutes($routes) . '</ul>';



    protected function parseRoutes($routes, $names = array(), $url = array())
    {
        echo '<ul>';
        foreach ($routes as $name => $route) {
            echo '<li>';
            if (isset($route['options'])) {
                echo '<a href="' . implode($url). $route['options']['route'] . '">' . $name . '</a>';
            }

            if (isset($route['child_routes'])) {
                echo $this->parseRoutes($route['child_routes'], $names + array($name), array_merge($url, array($route['options']['route'])));
            }

            echo '</li>';
        }
        echo '</ul>';
    }

From my understanding I wrote following content in my phtml file.

<?php
        $sm = $e->getApplication()->getServiceManager();
        $routes = $sm->get('config')['router']['routes'];
        echo '<ul>' . $this->parseRoutes($routes) . '</ul>';

and I wrote the below content in my controller

protected function parseRoutes($routes, $names = array(), $url = array())
    {
        echo '<ul>';
        foreach ($routes as $name => $route) {
            echo '<li>';
            if (isset($route['options'])) {
                echo '<a href="' . implode($url). $route['options']['route'] . '">' . $name . '</a>';
            }
            if (isset($route['child_routes'])) {
                echo $this->parseRoutes($route['child_routes'], $names + array($name), array_merge($url, array($route['options']['route'])));
            }
            echo '</li>';
        }
        echo '</ul>';
    }

But it is giving error undefined variable e for this line $sm = $e->getApplication()->getServiceManager(); .