What's the difference between therapy dogs, emotional support dogs and service dogs?

How do you know if you need a therapy dog, an emotional support dog, or a service dog? There are big differences in how these dogs help and how each one of them is covered under the Americans with Disabilities Act (ADA.gov).
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[@southernenigma3427]

I recently read an FFA article, stating airlines were going to make a motion to ban or curtail emotional support animals. They are NOT service animals and have no training. People are getting ridiculous. If you can't fly a few hours without a dog, cat, gerbil, peacock, or whatever else you want to try to pull from your sleeve and take on a plane, then maybe you should just drive. I will not sit beside a damn snake or anything else, if I feel threatened because someone is disturbed enough to think they can get by with stupid shit.

[@ohana8535]

It's not Emotional Support Dog, It is Emotional Support Animal. ESA's are any untrained animal that can provide comfort to a disabled person. It could be a cat, lizard, or a hissing cockroach. Some are dogs. Many are not.