Why is there no qualifying bean of type RequestMappingHandlerMapping?

Question

I am trying to autowire a RequestMappingHandlerMapping to get a list of all HTTP addresses served as mentioned in this answer and I get the following exception when Tomcat starts.

org.springframework.beans.factory.NoSuchBeanDefinitionException: No qualifying bean of type 'org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerMapping' available: expected at least 1 bean which qualifies as autowire candidate. Dependency annotations: {}

Why is there no qualifying bean of type RequestMappingHandlerMapping or how can I make a bean available?

I read this page but I don't think it applies since my project doesn't use Spring Boot. String @EnableWebMvc isn't in my project also. Using Spring Framework 4.3.5

@Autowired
private RequestMappingHandlerMapping handlerMapping;

@RequestMapping(value="/endpointdoc", method=RequestMethod.GET)
public void show(Model model) {
 model.addAttribute("handlerMethods", this.handlerMapping.getHandlerMethods());
} 

@RequestMapping(
        method = RequestMethod.POST,
        path = "/myHandlerMethods")
@ResponseBody
public String myHandlerMethods() {
    log.info("myHandlerMethods");
    System.out.println("myHandlerMethods");
    return "myHandlerMethods\n" + handlerMapping.getHandlerMethods();
}