Re: whisker pole or spinnaker pole
You are lucky to have both poles!
The telescoping pole is the whisker pole, and it is used to keep the Jib out. It reduces wear on the sail, and helps you keep the sail shape as the boat rolls. I wish I had one.
The pole mounted on the fore deck with jaws at both ends is the spinnaker pole. I have one of these, but without a spinnaker it is just in the way. I leave mine on the dock.