Earlier quoted context omitted.
Yes. So if you have the same thing in both the database and in your program, you don't need no mapping. And I suggest that having relations in both places is the way to go.
It's not enough, there is no way to represent some db stuff (not relational, more impl oriented) or some special queries in the program with an ORM. No ORM I have seen comes close to 100% of what you could do with the DB. So still the best way to get closest to the db is using raw queries in the program, but of course that does not scale with more tables, does not scale with more db engines, and does not scale with j…
If your language supports relation, there's no need to badly translate to objects. (And even if your language doesn't support everything your database does, there's still less of an impedance mismatch if you use an 'RRM' instead of an ORM.)