A bike with a relaxed geometry usually has a longer head tube and allows the rider to sit up more relaxed whereas an aggressive frame has tighter geometry allowing the rider to get into a more aggressive, aerodynamic position.
It's also about stability, a tourer will have longer wheelbase and slower steering, so it will be more stable and more comfortable over bumps, as opposed to a racebike where quick steering is more important.
It relates to the frame geometry - typically a racing frame will have a shorter wheelbase and fork rake with traditionally a seat tube angle of 74 degrees. A tourer will have a longer wheelbase and fork rake and traditionally a seat tube angle of 73 degrees. Nowadays with compact frames with sloping top tubes these angles don't always apply, but the same principles remain. Steep seat tube angle = aggressive, shallow seat tube angle = relaxed.
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