The four types defined in are:
Full Cone: A full cone NAT is one where all requests from the
same internal IP address and port are mapped to the same
external IP address and port. Furthermore, any external
host can send a packet to the internal host, by sending a
packet to the mapped external address.
Restricted Cone: A restricted cone NAT is one where all requests
from the same internal IP address and port are mapped to
the same external IP address and port. Unlike a full cone
NAT, an external host (with IP address X) can send a packet
to the internal host only if the internal host had
previously sent a packet to IP address X.
Port Restricted Cone: A port restricted cone NAT is like a
restricted cone NAT, but the restriction includes port
numbers. Specifically, an external host can send a packet,
with source IP address X and source port P, to the internal
host only if the internal host had previously sent a packet
to IP address X and port P.
Symmetric: A symmetric NAT is one where all requests from the
same internal IP address and port, to a specific
destination IP address and port, are mapped to the same
external IP address and port. If the same host sends a
packet with the same source port, but to a different
destination, a different mapping is used. Furthermore, only
the external host that receives a packet can send a UDP
packet back to the internal host. 
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