QI_VAARGS_MAP: Reimplement with hopefuly less warnings.

Change-Id: Id8322964c06c4196a4df2556f6994849ec560c35
Reviewed-on: http://gerrit.aldebaran.lan:8080/17856
Reviewed-by: cgestes <gestes@aldebaran-robotics.com>
Reviewed-by: mnottale <mnottale@aldebaran-robotics.com>
Tested-by: mnottale <mnottale@aldebaran-robotics.com>