DDS — Mapping DCPS-DLRL

Currently the specified mapping is rather strict with respects to the mapping between the DLRLOid and the DCPS topic keys. When an existing DCPS schema is reused, more flexibility would be desirable
In particular, there exist cases when there are no DCPS keys at all (should correspond to a singleton class)
In some circumstances, the indication of the class name while needed in the main topic (to guess what is the type of the corresponding object) is not needed in the relations to objects of that type

see below