You can always recalculate a set of coordinates from one coordinate system to another.
EDIT: Ok, turns out it is not so trivial as I thought. Nevermind what I wrote. 
EDIT2: How about this:
def get_actual_tcp_speed_in_tcp():
return pose_trans(pose_inv(get_actual_tcp_pose()), pose_add(get_actual_tcp_pose(), get_actual_tcp_speed()))
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