# position and orientation of the vector

Hello

I went through tf tutorial and some questions here http://answers.ros.org/question/39250/getting-the-position-and-the-pose-of-robot-using-tf_listener/) . I assume that my robot is an rectangle so want to know the position of each 4 vectors of my rectangle.

In my code to get the distance between the fixed point in the map and the center of the robot, center of the base link ( which is the centar of that rectangle I did not used a pose. I used this code. And think is ok.

```
while (node.ok()){
tf::StampedTransform transform;
try{
listener.lookupTransform("/base_link", "/door1",
ros::Time(0), transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
}
double x = transform.getOrigin().x();
double y = transform.getOrigin().y();
double dist = sqrt(x*x + y*y);
```

So , but I need to calculate the distance between the 4 vectors (which are formed by the 4 corner points of the rectangle) to that fixed point. So how to get that vectors fist, with the help of my previous code and than the distance.

Thanks.