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Use cerr instead of cout and printf

Seth Johnson requested to merge sethrj/cerr into master

Some vecgeom warnings/errors print using cstdio to printf, some to cout, and some to cerr. This change makes some consistency checks host-only (reasonable since the CUDA objects should be constructed from the already verified host objects) and writes to cerr instead of printf. A separable commit changes all cout to cerr in the library.

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