Fix various warnings

[sankhesh]

Tested with GCC 9.2.0

[CLAassistant]

All committers have signed the CLA.

[GregSlazinski]

PX_FORCE_INLINE Ps::aos::PsMatTransformV& getRelativeTransform(){ return const_cast<Ps::aos::PsMatTransformV&>(mAToB);
no, this should rather be:
PX_FORCE_INLINE const Ps::aos::PsMatTransformV& getRelativeTransform(){ return mAToB; }