# Generated by tools/build_slam_source.py; do not edit.
# Original source SHA-256: 5e81dccfc4c7608cfb177218de001bd7706e4d0ffc2dcad5c3e0c41757198831
import math

def translation_metrics(estimate, truth, delta):
    if len(estimate) != len(truth) or len(truth) < 2:
        raise ValueError("Need matching trajectories with at least two positions")
    if type(delta) is not int or not 1 <= delta < len(truth):
        raise ValueError("Invalid pair interval")
    if not all(math.isfinite(v) for v in [*estimate, *truth]):
        raise ValueError("Positions must be finite")
    ape = math.sqrt(sum(((x - y) ** 2 for x, y in zip(estimate, truth))) / len(truth))
    rpe = math.sqrt(sum(((estimate[i + delta] - estimate[i] - (truth[i + delta] - truth[i])) ** 2 for i in range(len(truth) - delta))) / (len(truth) - delta))
    return ape, rpe