ANT tasks that utilize PDFBox features can be found in this package.
This is an example of using the PDF2Text task:
 
<taskdef name="pdf2text" classname="org.apache.pdfbox.ant.PDFToTextTask" classpathref="build.classpath" />
<pdf2text>
      <fileset dir="test">
            <include name="**/*.pdf" />
      </fileset>
</pdf2text>