The Difference Between Persuasion and Manipulation

Most reasonable, rational people who are trying to do what's right consider themselves good people. The person that is able to be persuasive and influential does not have an agenda of getting you to change your mind. When we try to be persuasive out of fear or contempt or hate, it's not persuasive. It's manipulative, and it's passive aggressive. So the difference is, what is driving me? Am i trying to prove something, or not?