This is a fundamental problem -- you have data that are not designed for GIS such as Transcad and so some import method is necessary. If you have only the PDF which is a "picture" of the area, you will be able to import it as a picture or backdrop for your own map layers PROVIDED you can identify some points on the PDF to which you can assign accurate coordinates in your map system. (You should pick several non co-linear points.) This is sometimes referred to as rubber sheeting.
The autocad option is a little different -- it may be an import data type / option in your GIS software (see the import options) but realize that an autocad diagram is not geo-referenced to the world coordinates in your map so you may have to find some corresponding points.
Specifically, here is a link from the caliper documentation: (source Maptitude 2016) [Maptitude is closely related to Transcad]
"Importing AutoCAD DXF and DWG Files
AutoCAD is a computer-aided design (CAD) package that is used primarily for making technical drawings, but also for making maps. Maptitude can import AutoCAD DWG and DXF files Since many other software packages also import and export AutoCAD files, this format can be used to exchange data with dozens of other software packages.
When you import an AutoCAD file, you have several options for georeferencing the data. You can choose the coordinate system to use, you can open a map of the location where the data are located and use the Register AutoCAD Database toolbox to mark the true location of the data, or you can choose no georeferencing (center the data at 0,0 longitude/latitude)."