diff --git a/doc/images/gtsam-structure.graffle b/doc/images/gtsam-structure.graffle
new file mode 100644
index 000000000..22eb72dc3
--- /dev/null
+++ b/doc/images/gtsam-structure.graffle
@@ -0,0 +1,1302 @@
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diff --git a/doc/images/gtsam-structure.pdf b/doc/images/gtsam-structure.pdf
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