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I'm looking for a way to type notes on a PDF document. I would like to be able to include LaTeX in my notes. Is there software that does this?

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There are a number of ways of doing this. From overlaying LaTeX on top of a page (which will print with the document), to adding annotations which will not print and may only be viewable in certain PDF readers. What exactly are you after here? – Werner Jan 14 '12 at 2:29
Both actually. I would like to make notes on my math textbook. Most of my notes will be for self-reference only. But I would also like to know how to overlay LaTeX on a PDF. – Hurpe Jan 14 '12 at 2:48
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See Overlay LaTeX/TeX coding easily on PDF with 300 pages for how to overlay LaTeX on an existing document. – Werner Jan 14 '12 at 4:13
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See How to annotate PDF files generated by pdflatex? to annotate PDF files. – Werner Jan 14 '12 at 5:03
If it's a commercial textbook then the book may very well be write protected. Even if you can edit the book, you may not be allowed to add notes (change it). – Marc van Dongen Jan 14 '12 at 6:02
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Just to post an answer (from Werner's comments):

To overlay LaTeX on an existing document see this question.

To annotate some PDF files created with pdflatex see this question.

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