Add an annotation on a pdf - ios

I have to develop a iPad app which can view a PDF file and draw some predefined annotations on it dynamically. It's like http://plangrid.com/ do.
I went though WWDC videos, stackoverflow and some other blogs.
But could not find a way to add a controller bar on the PDF. And drag a annotation from it and drop on the PDF.
I have an idea about to view a PDF. I followed ZoomingPDFViewer example.
Please advise me.
I'm using XCode 4 and iOS 4.3.

I'm not sure if you found the following stackoverflow post:
Annotate PDF within iPhone SDK
The first answer shows how to add text to a pdf page at a given location. This should be helpful for your purposes.

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I think this will help you.
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