Deduplicate Local and Cluster schedulers.

The code in LocalScheduler/LocalTaskSetManager was nearly identical
to the code in ClusterScheduler/ClusterTaskSetManager. The redundancy
made making updating the schedulers unnecessarily painful and error-
prone. This commit combines the two into a single TaskScheduler/
TaskSetManager.

Unfortunately the diff makes this change look much more invasive than it is -- TaskScheduler.scala is only superficially changed (names updated, overrides removed) from the old ClusterScheduler.scala, and the same with
TaskSetManager.scala.

Thanks @rxin for suggesting this change!