port to qidoc3

Change-Id: Ie3c42deef204b5fafb72e90a3b04aa0108f06d67
Reviewed-on: http://gerrit.aldebaran.lan/24566
Reviewed-by: dmerejkowsky <dmerejkowsky@aldebaran-robotics.com>
Tested-by: dmerejkowsky <dmerejkowsky@aldebaran-robotics.com>