+
+double pos_mm2imp(struct trajectory *traj, double pos);
+double pos_imp2mm(struct trajectory *traj, double pos);
+double speed_mm2imp(struct trajectory *traj, double speed);
+double speed_imp2mm(struct trajectory *traj, double speed);
+double acc_mm2imp(struct trajectory *traj, double acc);
+double acc_imp2mm(struct trajectory *traj, double acc);
+double pos_rd2imp(struct trajectory *traj, double pos);
+double pos_imp2rd(struct trajectory *traj, double pos);
+double speed_rd2imp(struct trajectory *traj, double speed);
+double speed_imp2rd(struct trajectory *traj, double speed);
+double acc_rd2imp(struct trajectory *traj, double acc);
+double acc_imp2rd(struct trajectory *traj, double acc);