D2RQ default mapping scheme

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What is the default mapping scheme for D2RQ? Is it triple-based mapping, value-based mapping or object-based mapping?

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The documentation says:

The generate-mapping script automatically generates a D2RQ mapping from the table structure of a database. The tool generates a new RDF vocabulary for each database, using table names as class names and column names as property names. Semantic Web client applications will understand more of your data if you customize the mapping and replace the auto-generated terms with terms from well-known and publicly accessible RDF vocabularies.

The mapping file can be edited with any text editor. Its syntax is described in the D2RQ language specification.

The DR2 Server Tutorial gives a bit more detail, although it uses a non-default mapping file. You might begin by working through the tutorial, examining the mapping generated by the script, and then comparing it to the one provided for the tutorial.