If you know your menu location id (usually declared in functions.php by "register_nav_menus") you can use this snippet:
// GET ALL MENU OBJECTS AT SPECIFIED LOCATION
function yourprefix_get_menu_items($location_id){
//$locations = get_registered_nav_menus();
$menus = wp_get_nav_menus();
$menu_locations = get_nav_menu_locations();
if (isset($menu_locations[ $location_id ]) && $menu_locations[ $location_id ]!=0) {
foreach ($menus as $menu) {
if ($menu->term_id == $menu_locations[ $location_id ]) {
$menu_items = wp_get_nav_menu_items($menu);
break;
}
}
return $menu_items;
}
}
Or more short version from codex:
function yourprefix_get_menu_items($menu_name){
if ( ( $locations = get_nav_menu_locations() ) && isset( $locations[ $menu_name ] ) ) {
$menu = wp_get_nav_menu_object( $locations[ $menu_name ] );
return wp_get_nav_menu_items($menu->term_id);
}
}
Then do everything you want with this array like so:
$menu_items = yourprefix_get_menu_items('sidebar-menu'); // replace sidebar-menu by desired location
if(isset($menu_items)){
foreach ( (array) $menu_items as $key => $menu_item ) {
...some code...
}
}
And here is link about all nav_menu data which you can select directly from database by mysql request:
http://lasota.community.uaf.edu/2011/07/29/nav-menu-data-location-in-wordpress-3-2/