Raw queries or setup mappings?

[Gillardo]

Can i use this library to return a result set rather than objects? And poulate objects using a result set?

How do you setup mappings to custom objects..

Example

I have a table called MyObject with columns id, name, company_name, company_address

How can i get that into an object with a child object, like so

public MyObject {
    public int Id { get; set; }
    public MyCompany Company { get; set; }

    public MyCompany {
        public string Name { get; set; }
        public string Address { get; set; }
    }
}