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Imagine the following schema:


Assume that the host 10.0.0.1 wants to ping the host 192.168.0.2.
Considering the actual ways of communication, this is something impossible, because with only one IP address, the packet can only reach the gateway 200.200.200.200.
With RNAT it is possible. The only necessary changes are to have a modified version of ping command in 10.0.0.1 and a specific software in 200.200.200.200 gateway. It is possible to get the following result:

root@client:~# ping 200.200.200.200 -a 192.168.0.2 -c 3
PING 200.200.200.200 (200.200.200.200 - 192.168.0.1): 56 octets data
64 octets from 200.200.200.200 - 192.168.0.2: icmp_seq=0 ttl=254 time=34.1 ms
64 octets from 200.200.200.200 - 192.168.0.2: icmp_seq=0 ttl=254 time=37.4 ms
64 octets from 200.200.200.200 - 192.168.0.2: icmp_seq=0 ttl=254 time=31.2 ms
3 packets transmitted, 3 packets received, 0% packet loss
root@client:~#

See that changes in 192.168.0.2 and 100.100.100.100 are not needed.
The same is valid to TCP and UDP.

Follows the screenshot of the modified version of putty: