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What is the meaning of MoveBase::distance ?

I am sorry for my poor English.

I am a beginner at ROS and ROS navigation stack. I would like to know what double MoveBase::distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2) means , which is the function in move_base.cpp. Does it mean the distance from the present point to the goal point?

In addition, I would also like to know the meaning of geometry_msgs::PoseStamped. Is it self position?

I would appreciate it if you could answer my question.

Thank you.

What is the meaning of MoveBase::distance ?

I am sorry for my poor English.

I am a beginner at ROS and ROS navigation stack. I would like to know what double MoveBase::distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2) means , which is the a function in move_base.cpp. Does it mean the distance from the a present point to the a goal point?

In addition, I would also like to know the meaning of geometry_msgs::PoseStamped. Is it a self position?

I would appreciate it if you could answer my question.

Thank you. you.