We study Brenier's variational models for incompressible Euler equations. These models give rise to a relaxation of the Arnold distance in the space of measure-preserving maps and, more generally, measure-preserving plans. We analyze the properties of the relaxed distance, we show a close link between the Lagrangian and the Eulerian model, and we derive necessary and sufficient optimality conditions for minimizers. These conditions take into account a modified Lagrangian induced by the pressure field. Moreover, adapting some ideas of Shnirelman, we show that, even for non-deterministic final conditions, generalized flows can be approximated in energy by flows associated to measure-preserving maps.