# What is the difference between Vector3 and point message? Do they contain the same data values?

I made a tf listener which gets a transform of type tf::StampedTransform between two given frames. Then this transform is converted to ros message type from ros tf type via the function tf::transformStampedTFToMsg(). It gives a message of type geometry_msgs::TransformStamped which contains Vector3 translation and not point translation.

What I need ultimately is the position of child frame origin w.r.t. the parent frame origin. And I am intending to use the information provided in the Vector3 translation as it is, assuming that it contains exact values for the translation required to move from the parent frame origin to the child frame origin. Please correct me if I am wrong.

I got confused after reading out from this link: http://docs.ros.org/api/geometry_msgs... that Vector3 only provides direction??? So does it mean that the magnitude values are just raw values? If not, then they should be the same as in point translation, no?