You can extends SupportMapFragment and override OnCreateView to do it programatically:: 
public class myMap extends SupportMapFragment{ 
    private Context context; 
    public View onCreateView(LayoutInflater inflater,
            @Nullable ViewGroup container,
            @Nullable Bundle savedInstanceState) {
        // TODO Auto-generated method stub  
        View v = super.onCreateView(inflater, container,savedInstanceState);  
        //save context
        this.context = v.getContext();
        RelativeLayout view = new RelativeLayout(v.getContext());  
       //add relative layout
        view.addView(v, new RelativeLayout.LayoutParams(-1, -1));  
        TextView stuff = new EditText(v.getContext());
        stuff.setText("Hey you, I was added programatically!");
        view.addView(stuff);
        initializeMap();
        return view;  //return 
    }
    private initializeMap(){
        //add things to the map here  
        getMap().addMarker(new MarkerOptions().add(new LatLng(-37.81319, 144.96298))); 
    }
}