[SPARK-2393][SQL] Cost estimation optimization framework for Catalyst logical plans & sample usage.

The idea is that every Catalyst logical plan gets hold of a Statistics class, the usage of which provides useful estimations on various statistics. See the implementations of `MetastoreRelation`.

This patch also includes several usages of the estimation interface in the planner. For instance, we now use physical table sizes from the estimate interface to convert an equi-join to a broadcast join (when doing so is beneficial, as determined by a size threshold). 

Finally, there are a couple minor accompanying changes including:
- Remove the not-in-use `BaseRelation`.
- Make SparkLogicalPlan take a `SQLContext` in the second param list.