wordpress show all custom taxonomies and their associate posts

Is their any way in wordpress custom taxonomy to show all ca开发者_开发知识库tegories and associate their posts as well means:

my category1
post 1
post 2
post 3
post 4


my category2
post 1
post 2
post 3
post 4

note i have to do this in custom post type, taxonomy.

this should work, I haven't tested it thorough

$args = array (
    'type' => 'post', //your custom post type
    'orderby' => 'name',
    'order' => 'ASC',
    'hide_empty' => 0 //shows empty categories
);
$categories = get_categories( $args );
foreach ($categories as $category) {    
    echo $category->name;
    $post_by_cat = get_posts(array('cat' => $category->term_id));

    echo '<ul>';
    foreach( $post_by_cat as $post ) {
        setup_postdata($post);
        echo '<li><a href="'.the_permalink().'">'.the_title().'</a></li>';
    }
    echo '</ul>';
}

source:
http://codex.wordpress.org/Function_Reference/get_categories
http://codex.wordpress.org/Template_Tags/get_posts

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